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<title>Doxygen: pcl::octree::OctreePointCloud&lt; PointT, LeafContainerT, BranchContainerT, OctreeT &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::octree::OctreePointCloud&lt; PointT, LeafContainerT, BranchContainerT, OctreeT &gt; 模板类 参考</div>  </div>
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<p><b>Octree</b> pointcloud class  
 <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="octree__pointcloud_8h_source.html">octree_pointcloud.h</a>&gt;</code></p>
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类 pcl::octree::OctreePointCloud&lt; PointT, LeafContainerT, BranchContainerT, OctreeT &gt; 继承关系图:</div>
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 <div class="center">
  <img src="classpcl_1_1octree_1_1_octree_point_cloud.png" usemap="#pcl::octree::OctreePointCloud_3C_20PointT_2C_20LeafContainerT_2C_20BranchContainerT_2C_20OctreeT_20_3E_map" alt=""/>
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Public 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a>&#160;</td><td class="memItemRight" valign="bottom"><b>Base</b></td></tr>
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typedef OctreeT::LeafNode&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNode</b></td></tr>
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typedef OctreeT::BranchNode&#160;</td><td class="memItemRight" valign="bottom"><b>BranchNode</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Iterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNodeIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstLeafNodeIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DepthFirstIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstDepthFirstIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BreadthFirstIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstBreadthFirstIterator</b></td></tr>
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typedef boost::shared_ptr&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>IndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>IndicesConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; LeafContainerT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SingleBuffer</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>AlignedPointTVector</b></td></tr>
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typedef std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>AlignedPointXYZVector</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1octree_1_1_octree_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1octree_1_1_octree_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;</a></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a>, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeT</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeBranchNode</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BranchNode</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeLeafNode</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNode</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a>&#160;</td><td class="memItemRight" valign="bottom"><b>LeafContainer</b></td></tr>
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<tr class="memitem:a074dafbb60d1b44f539da230f05e3691 inherit pub_types_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a074dafbb60d1b44f539da230f05e3691"></a>
typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Iterator</b></td></tr>
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<tr class="memitem:adc245e92766188028f9a59273a59f37d inherit pub_types_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="adc245e92766188028f9a59273a59f37d"></a>
typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstIterator</b></td></tr>
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<tr class="memitem:a8b8afe471af2ed5326867be2503f3077 inherit pub_types_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a8b8afe471af2ed5326867be2503f3077"></a>
typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNodeIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstLeafNodeIterator</b></td></tr>
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<tr class="memitem:aa56d6e9a0bc7a5cc55ec3229a3e685ba inherit pub_types_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="aa56d6e9a0bc7a5cc55ec3229a3e685ba"></a>
typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DepthFirstIterator</b></td></tr>
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<tr class="memitem:a6c957452dc76d7c7014901affd6993c5 inherit pub_types_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a6c957452dc76d7c7014901affd6993c5"></a>
typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstDepthFirstIterator</b></td></tr>
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<tr class="memitem:a0a49f93bc114440e695c9a5853cbe348 inherit pub_types_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a0a49f93bc114440e695c9a5853cbe348"></a>
typedef <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BreadthFirstIterator</b></td></tr>
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<tr class="memitem:a93f4e0b8aacde941fe102914e543e1f4 inherit pub_types_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a93f4e0b8aacde941fe102914e543e1f4"></a>
typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstBreadthFirstIterator</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a4ebc0e3994827277f01fe12cb4fe8c2a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4ebc0e3994827277f01fe12cb4fe8c2a">OctreePointCloud</a> (const double resolution_arg)</td></tr>
<tr class="memdesc:a4ebc0e3994827277f01fe12cb4fe8c2a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Octree pointcloud constructor.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4ebc0e3994827277f01fe12cb4fe8c2a">更多...</a><br /></td></tr>
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<tr class="memitem:ab8478220f036bebf326d52d0aa9812b7"><td class="memItemLeft" align="right" valign="top"><a id="ab8478220f036bebf326d52d0aa9812b7"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab8478220f036bebf326d52d0aa9812b7">~OctreePointCloud</a> ()</td></tr>
<tr class="memdesc:ab8478220f036bebf326d52d0aa9812b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty deconstructor. <br /></td></tr>
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<tr class="memitem:a87cad20428de876fcf789e674a39f503"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503">setInputCloud</a> (const PointCloudConstPtr &amp;cloud_arg, const IndicesConstPtr &amp;indices_arg=IndicesConstPtr())</td></tr>
<tr class="memdesc:a87cad20428de876fcf789e674a39f503"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input data set.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503">更多...</a><br /></td></tr>
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<tr class="memitem:ad2d8677cb9862db3dbb3469dea11448a"><td class="memItemLeft" align="right" valign="top">IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad2d8677cb9862db3dbb3469dea11448a">getIndices</a> () const</td></tr>
<tr class="memdesc:ad2d8677cb9862db3dbb3469dea11448a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad2d8677cb9862db3dbb3469dea11448a">更多...</a><br /></td></tr>
<tr class="separator:ad2d8677cb9862db3dbb3469dea11448a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3755f9b861d4087c1b1bc1ab1bca1115"><td class="memItemLeft" align="right" valign="top">PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a3755f9b861d4087c1b1bc1ab1bca1115">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a3755f9b861d4087c1b1bc1ab1bca1115"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a3755f9b861d4087c1b1bc1ab1bca1115">更多...</a><br /></td></tr>
<tr class="separator:a3755f9b861d4087c1b1bc1ab1bca1115"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6ed1b43b1e139f916c4908ee4407a9a0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6ed1b43b1e139f916c4908ee4407a9a0">setEpsilon</a> (double eps)</td></tr>
<tr class="memdesc:a6ed1b43b1e139f916c4908ee4407a9a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the search epsilon precision (error bound) for nearest neighbors searches.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6ed1b43b1e139f916c4908ee4407a9a0">更多...</a><br /></td></tr>
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<tr class="memitem:a79537fd6e4e322a6cb3828aef64ab692"><td class="memItemLeft" align="right" valign="top"><a id="a79537fd6e4e322a6cb3828aef64ab692"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a79537fd6e4e322a6cb3828aef64ab692">getEpsilon</a> () const</td></tr>
<tr class="memdesc:a79537fd6e4e322a6cb3828aef64ab692"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the search epsilon precision (error bound) for nearest neighbors searches. <br /></td></tr>
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<tr class="memitem:a95a51d4834c204e02fd12b48d0c37a6f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a95a51d4834c204e02fd12b48d0c37a6f">setResolution</a> (double resolution_arg)</td></tr>
<tr class="memdesc:a95a51d4834c204e02fd12b48d0c37a6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set/change the octree voxel resolution  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a95a51d4834c204e02fd12b48d0c37a6f">更多...</a><br /></td></tr>
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<tr class="memitem:aaeb6c759054a883ef7e709591d0be3e3"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aaeb6c759054a883ef7e709591d0be3e3">getResolution</a> () const</td></tr>
<tr class="memdesc:aaeb6c759054a883ef7e709591d0be3e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get octree voxel resolution  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aaeb6c759054a883ef7e709591d0be3e3">更多...</a><br /></td></tr>
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<tr class="memitem:ae99e636dcd717b62e78a4a12ba9f183f"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ae99e636dcd717b62e78a4a12ba9f183f">getTreeDepth</a> () const</td></tr>
<tr class="memdesc:ae99e636dcd717b62e78a4a12ba9f183f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum depth of the octree.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ae99e636dcd717b62e78a4a12ba9f183f">更多...</a><br /></td></tr>
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<tr class="memitem:ac477d9477e781d980709b1e8886d2c7c"><td class="memItemLeft" align="right" valign="top"><a id="ac477d9477e781d980709b1e8886d2c7c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">addPointsFromInputCloud</a> ()</td></tr>
<tr class="memdesc:ac477d9477e781d980709b1e8886d2c7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add points from input point cloud to octree. <br /></td></tr>
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<tr class="memitem:ac740d5e678cca7d165771f0c9e480050"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac740d5e678cca7d165771f0c9e480050">addPointFromCloud</a> (const int point_idx_arg, IndicesPtr indices_arg)</td></tr>
<tr class="memdesc:ac740d5e678cca7d165771f0c9e480050"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point at given index from input point cloud to octree. Index will be also added to indices vector.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac740d5e678cca7d165771f0c9e480050">更多...</a><br /></td></tr>
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<tr class="memitem:a53d42efe80b3083dc5b703ea9dd7c9af"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a53d42efe80b3083dc5b703ea9dd7c9af">addPointToCloud</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg, PointCloudPtr cloud_arg)</td></tr>
<tr class="memdesc:a53d42efe80b3083dc5b703ea9dd7c9af"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point simultaneously to octree and input point cloud.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a53d42efe80b3083dc5b703ea9dd7c9af">更多...</a><br /></td></tr>
<tr class="separator:a53d42efe80b3083dc5b703ea9dd7c9af"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa204be6055c6e686bbe2bb11ece439db"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa204be6055c6e686bbe2bb11ece439db">addPointToCloud</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)</td></tr>
<tr class="memdesc:aa204be6055c6e686bbe2bb11ece439db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point simultaneously to octree and input point cloud. A corresponding index will be added to the indices vector.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa204be6055c6e686bbe2bb11ece439db">更多...</a><br /></td></tr>
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<tr class="memitem:a9a2aff164921146fd82c192d73e2f155"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">isVoxelOccupiedAtPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg) const</td></tr>
<tr class="memdesc:a9a2aff164921146fd82c192d73e2f155"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if voxel at given point exist.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">更多...</a><br /></td></tr>
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<tr class="memitem:a2661ae14c070f3abca50c759d7c0c465"><td class="memItemLeft" align="right" valign="top"><a id="a2661ae14c070f3abca50c759d7c0c465"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2661ae14c070f3abca50c759d7c0c465">deleteTree</a> ()</td></tr>
<tr class="memdesc:a2661ae14c070f3abca50c759d7c0c465"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete the octree structure and its leaf nodes. <br /></td></tr>
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<tr class="memitem:a93dbefe4a23e8083f6e3bba2eab22e0c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a93dbefe4a23e8083f6e3bba2eab22e0c">isVoxelOccupiedAtPoint</a> (const double point_x_arg, const double point_y_arg, const double point_z_arg) const</td></tr>
<tr class="memdesc:a93dbefe4a23e8083f6e3bba2eab22e0c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if voxel at given point coordinates exist.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a93dbefe4a23e8083f6e3bba2eab22e0c">更多...</a><br /></td></tr>
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<tr class="memitem:a75d0265301eeb2ba907cd1f2e002eca7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a75d0265301eeb2ba907cd1f2e002eca7">isVoxelOccupiedAtPoint</a> (const int &amp;point_idx_arg) const</td></tr>
<tr class="memdesc:a75d0265301eeb2ba907cd1f2e002eca7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if voxel at given point from input cloud exist.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a75d0265301eeb2ba907cd1f2e002eca7">更多...</a><br /></td></tr>
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<tr class="memitem:abb3e4301c89ea5011a1a1167800a57b3"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">getOccupiedVoxelCenters</a> (AlignedPointTVector &amp;voxel_center_list_arg) const</td></tr>
<tr class="memdesc:abb3e4301c89ea5011a1a1167800a57b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a PointT vector of centers of all occupied voxels.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">更多...</a><br /></td></tr>
<tr class="separator:abb3e4301c89ea5011a1a1167800a57b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2fe606c6ea7b413949b96e4ba4b22d7"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac2fe606c6ea7b413949b96e4ba4b22d7">getApproxIntersectedVoxelCentersBySegment</a> (const Eigen::Vector3f &amp;origin, const Eigen::Vector3f &amp;end, AlignedPointTVector &amp;voxel_center_list, float precision=0.2)</td></tr>
<tr class="memdesc:ac2fe606c6ea7b413949b96e4ba4b22d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a PointT vector of centers of voxels intersected by a line segment. This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac2fe606c6ea7b413949b96e4ba4b22d7">更多...</a><br /></td></tr>
<tr class="separator:ac2fe606c6ea7b413949b96e4ba4b22d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2edc37d578faf79346d3fa74b18de194"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">deleteVoxelAtPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg)</td></tr>
<tr class="memdesc:a2edc37d578faf79346d3fa74b18de194"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete leaf node / voxel at given point  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">更多...</a><br /></td></tr>
<tr class="separator:a2edc37d578faf79346d3fa74b18de194"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a03616f25c07af456a3f96e87371f152e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a03616f25c07af456a3f96e87371f152e">deleteVoxelAtPoint</a> (const int &amp;point_idx_arg)</td></tr>
<tr class="memdesc:a03616f25c07af456a3f96e87371f152e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete leaf node / voxel at given point from input cloud  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a03616f25c07af456a3f96e87371f152e">更多...</a><br /></td></tr>
<tr class="separator:a03616f25c07af456a3f96e87371f152e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7bc46426ce1b55cfd0a32063ada08613"><td class="memItemLeft" align="right" valign="top"><a id="a7bc46426ce1b55cfd0a32063ada08613"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">defineBoundingBox</a> ()</td></tr>
<tr class="memdesc:a7bc46426ce1b55cfd0a32063ada08613"><td class="mdescLeft">&#160;</td><td class="mdescRight">Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. <br /></td></tr>
<tr class="separator:a7bc46426ce1b55cfd0a32063ada08613"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17efabbe9a60f396212030999b9019b4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a17efabbe9a60f396212030999b9019b4">defineBoundingBox</a> (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg)</td></tr>
<tr class="memdesc:a17efabbe9a60f396212030999b9019b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Define bounding box for octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a17efabbe9a60f396212030999b9019b4">更多...</a><br /></td></tr>
<tr class="separator:a17efabbe9a60f396212030999b9019b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad4b5da82dcdb17bfc47a7e727002a35d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad4b5da82dcdb17bfc47a7e727002a35d">defineBoundingBox</a> (const double max_x_arg, const double max_y_arg, const double max_z_arg)</td></tr>
<tr class="memdesc:ad4b5da82dcdb17bfc47a7e727002a35d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Define bounding box for octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad4b5da82dcdb17bfc47a7e727002a35d">更多...</a><br /></td></tr>
<tr class="separator:ad4b5da82dcdb17bfc47a7e727002a35d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab45d8debd181db309b2283ae22a27c58"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab45d8debd181db309b2283ae22a27c58">defineBoundingBox</a> (const double cubeLen_arg)</td></tr>
<tr class="memdesc:ab45d8debd181db309b2283ae22a27c58"><td class="mdescLeft">&#160;</td><td class="mdescRight">Define bounding box cube for octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab45d8debd181db309b2283ae22a27c58">更多...</a><br /></td></tr>
<tr class="separator:ab45d8debd181db309b2283ae22a27c58"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adc10f5df5244d371c4136f09b37cd685"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#adc10f5df5244d371c4136f09b37cd685">getBoundingBox</a> (double &amp;min_x_arg, double &amp;min_y_arg, double &amp;min_z_arg, double &amp;max_x_arg, double &amp;max_y_arg, double &amp;max_z_arg) const</td></tr>
<tr class="memdesc:adc10f5df5244d371c4136f09b37cd685"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get bounding box for octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#adc10f5df5244d371c4136f09b37cd685">更多...</a><br /></td></tr>
<tr class="separator:adc10f5df5244d371c4136f09b37cd685"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab2c5e918883e8a4a4d4c9d017bff900c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab2c5e918883e8a4a4d4c9d017bff900c">getVoxelSquaredDiameter</a> (unsigned int tree_depth_arg) const</td></tr>
<tr class="memdesc:ab2c5e918883e8a4a4d4c9d017bff900c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the squared diameter of a voxel at given tree depth  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab2c5e918883e8a4a4d4c9d017bff900c">更多...</a><br /></td></tr>
<tr class="separator:ab2c5e918883e8a4a4d4c9d017bff900c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a040db2cc8b3dcf73cdb4bea4fd37d53a"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">getVoxelSquaredDiameter</a> () const</td></tr>
<tr class="memdesc:a040db2cc8b3dcf73cdb4bea4fd37d53a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the squared diameter of a voxel at leaf depth  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">更多...</a><br /></td></tr>
<tr class="separator:a040db2cc8b3dcf73cdb4bea4fd37d53a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab16d0a5d8b0a383619e1d50d748b5e0f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab16d0a5d8b0a383619e1d50d748b5e0f">getVoxelSquaredSideLen</a> (unsigned int tree_depth_arg) const</td></tr>
<tr class="memdesc:ab16d0a5d8b0a383619e1d50d748b5e0f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the squared voxel cube side length at given tree depth  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab16d0a5d8b0a383619e1d50d748b5e0f">更多...</a><br /></td></tr>
<tr class="separator:ab16d0a5d8b0a383619e1d50d748b5e0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e56f5f63f8e230d71a4716f8c420ebf"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">getVoxelSquaredSideLen</a> () const</td></tr>
<tr class="memdesc:a8e56f5f63f8e230d71a4716f8c420ebf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the squared voxel cube side length at leaf level  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">更多...</a><br /></td></tr>
<tr class="separator:a8e56f5f63f8e230d71a4716f8c420ebf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad15791e2de5823745260f812b4c65e06"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad15791e2de5823745260f812b4c65e06">getVoxelBounds</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_iterator_base.html">OctreeIteratorBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt; &amp;iterator, Eigen::Vector3f &amp;min_pt, Eigen::Vector3f &amp;max_pt) const</td></tr>
<tr class="memdesc:ad15791e2de5823745260f812b4c65e06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate bounds of the current voxel of an octree iterator  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad15791e2de5823745260f812b4c65e06">更多...</a><br /></td></tr>
<tr class="separator:ad15791e2de5823745260f812b4c65e06"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a094e94679a5251f9da9b58169e51958e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a094e94679a5251f9da9b58169e51958e">enableDynamicDepth</a> (size_t maxObjsPerLeaf)</td></tr>
<tr class="memdesc:a094e94679a5251f9da9b58169e51958e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable dynamic octree structure  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a094e94679a5251f9da9b58169e51958e">更多...</a><br /></td></tr>
<tr class="separator:a094e94679a5251f9da9b58169e51958e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1octree_1_1_octree_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1octree_1_1_octree_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;</a></td></tr>
<tr class="memitem:af5b723353ed5e70c780ab51483e21fa3 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="af5b723353ed5e70c780ab51483e21fa3"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> (unsigned int max_depth_arg=0)</td></tr>
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<tr class="memitem:aa3dd39dddf230b39a2fc045ec103abb7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="aa3dd39dddf230b39a2fc045ec103abb7"></a>
const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> ()</td></tr>
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<tr class="memitem:a8541db526ddf5f898790bf6ef1223a3a inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a8541db526ddf5f898790bf6ef1223a3a"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>leaf_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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<tr class="memitem:a1e14d8fab1cfd74381c27aadf6d8b093 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a1e14d8fab1cfd74381c27aadf6d8b093"></a>
const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>leaf_end</b> ()</td></tr>
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<tr class="memitem:a760e175fb8bb86d79c56e93e8b595e8e inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a760e175fb8bb86d79c56e93e8b595e8e"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>depth_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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<tr class="memitem:aeb2f5f162fc65bea502e16a4d440e3c3 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="aeb2f5f162fc65bea502e16a4d440e3c3"></a>
const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>depth_end</b> ()</td></tr>
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<tr class="memitem:a0c3b436b7b30f428312dcdcf37f54f9d inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a0c3b436b7b30f428312dcdcf37f54f9d"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>breadth_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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<tr class="memitem:a3c6d18a296ed5f2667a4b6a511d46575 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a3c6d18a296ed5f2667a4b6a511d46575"></a>
const <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>breadth_end</b> ()</td></tr>
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<tr class="memitem:ae7fe4a307dc3c87adefb3bac2758a862 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="ae7fe4a307dc3c87adefb3bac2758a862"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ae7fe4a307dc3c87adefb3bac2758a862">OctreeBase</a> ()</td></tr>
<tr class="memdesc:ae7fe4a307dc3c87adefb3bac2758a862 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:ad76bd21badf86e9b47d0c8689f6a860b inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="ad76bd21badf86e9b47d0c8689f6a860b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ad76bd21badf86e9b47d0c8689f6a860b">OctreeBase</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a> &amp;source)</td></tr>
<tr class="memdesc:ad76bd21badf86e9b47d0c8689f6a860b inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:a3576546beaf804d801ca93c541d76697 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a3576546beaf804d801ca93c541d76697"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a3576546beaf804d801ca93c541d76697">~OctreeBase</a> ()</td></tr>
<tr class="memdesc:a3576546beaf804d801ca93c541d76697 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty deconstructor. <br /></td></tr>
<tr class="separator:a3576546beaf804d801ca93c541d76697 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae40b7560b7aaa1f70d95bc95e093601 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="aae40b7560b7aaa1f70d95bc95e093601"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aae40b7560b7aaa1f70d95bc95e093601">operator=</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a> &amp;source)</td></tr>
<tr class="memdesc:aae40b7560b7aaa1f70d95bc95e093601 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy operator. <br /></td></tr>
<tr class="separator:aae40b7560b7aaa1f70d95bc95e093601 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b65a6dadccce46ef7c2434f80d907d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2b65a6dadccce46ef7c2434f80d907d7">setMaxVoxelIndex</a> (unsigned int max_voxel_index_arg)</td></tr>
<tr class="memdesc:a2b65a6dadccce46ef7c2434f80d907d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum amount of voxels per dimension.  <a href="classpcl_1_1octree_1_1_octree_base.html#a2b65a6dadccce46ef7c2434f80d907d7">更多...</a><br /></td></tr>
<tr class="separator:a2b65a6dadccce46ef7c2434f80d907d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7de0fe2ec6f460d6e448b846318526b inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#af7de0fe2ec6f460d6e448b846318526b">setTreeDepth</a> (unsigned int max_depth_arg)</td></tr>
<tr class="memdesc:af7de0fe2ec6f460d6e448b846318526b inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum depth of the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#af7de0fe2ec6f460d6e448b846318526b">更多...</a><br /></td></tr>
<tr class="separator:af7de0fe2ec6f460d6e448b846318526b inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaedf340984f00bf088c8fac94fb176d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aaedf340984f00bf088c8fac94fb176d7">getTreeDepth</a> () const</td></tr>
<tr class="memdesc:aaedf340984f00bf088c8fac94fb176d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum depth of the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#aaedf340984f00bf088c8fac94fb176d7">更多...</a><br /></td></tr>
<tr class="separator:aaedf340984f00bf088c8fac94fb176d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a62ea5ae9440654d09b0db929675ed5da inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">createLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:a62ea5ae9440654d09b0db929675ed5da inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">更多...</a><br /></td></tr>
<tr class="separator:a62ea5ae9440654d09b0db929675ed5da inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cb31ab9a56944b96eef0ace8dedacbe inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:a8cb31ab9a56944b96eef0ace8dedacbe inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">更多...</a><br /></td></tr>
<tr class="separator:a8cb31ab9a56944b96eef0ace8dedacbe inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adde845dfa80aec70762f8297e2b2e97c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">existLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const</td></tr>
<tr class="memdesc:adde845dfa80aec70762f8297e2b2e97c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">更多...</a><br /></td></tr>
<tr class="separator:adde845dfa80aec70762f8297e2b2e97c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af316c0dedeb707141de115778016c969 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#af316c0dedeb707141de115778016c969">removeLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:af316c0dedeb707141de115778016c969 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#af316c0dedeb707141de115778016c969">更多...</a><br /></td></tr>
<tr class="separator:af316c0dedeb707141de115778016c969 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2bed940d92096c56cb9efc08aee0af9 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ac2bed940d92096c56cb9efc08aee0af9">getLeafCount</a> () const</td></tr>
<tr class="memdesc:ac2bed940d92096c56cb9efc08aee0af9 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the amount of existing leafs in the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#ac2bed940d92096c56cb9efc08aee0af9">更多...</a><br /></td></tr>
<tr class="separator:ac2bed940d92096c56cb9efc08aee0af9 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6969af4d54d7c8d41b16cc00579744d0 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a6969af4d54d7c8d41b16cc00579744d0">getBranchCount</a> () const</td></tr>
<tr class="memdesc:a6969af4d54d7c8d41b16cc00579744d0 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the amount of existing branch nodes in the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#a6969af4d54d7c8d41b16cc00579744d0">更多...</a><br /></td></tr>
<tr class="separator:a6969af4d54d7c8d41b16cc00579744d0 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9abc561a4c6672aba260f688c8250682 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a9abc561a4c6672aba260f688c8250682"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a9abc561a4c6672aba260f688c8250682">deleteTree</a> ()</td></tr>
<tr class="memdesc:a9abc561a4c6672aba260f688c8250682 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete the octree structure and its leaf nodes. <br /></td></tr>
<tr class="separator:a9abc561a4c6672aba260f688c8250682 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa0be9db52726ff7e1e58fd384e0f5e54 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aa0be9db52726ff7e1e58fd384e0f5e54">serializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_out_arg)</td></tr>
<tr class="memdesc:aa0be9db52726ff7e1e58fd384e0f5e54 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Serialize octree into a binary output vector describing its branch node structure.  <a href="classpcl_1_1octree_1_1_octree_base.html#aa0be9db52726ff7e1e58fd384e0f5e54">更多...</a><br /></td></tr>
<tr class="separator:aa0be9db52726ff7e1e58fd384e0f5e54 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e6c5b482d5280d7809b4a8484b77a5e inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4e6c5b482d5280d7809b4a8484b77a5e">serializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_out_arg, std::vector&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> * &gt; &amp;leaf_container_vector_arg)</td></tr>
<tr class="memdesc:a4e6c5b482d5280d7809b4a8484b77a5e inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector.  <a href="classpcl_1_1octree_1_1_octree_base.html#a4e6c5b482d5280d7809b4a8484b77a5e">更多...</a><br /></td></tr>
<tr class="separator:a4e6c5b482d5280d7809b4a8484b77a5e inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29a4753c659cdd7b27e7e83ad705c89c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a29a4753c659cdd7b27e7e83ad705c89c">serializeLeafs</a> (std::vector&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> * &gt; &amp;leaf_container_vector_arg)</td></tr>
<tr class="memdesc:a29a4753c659cdd7b27e7e83ad705c89c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes.  <a href="classpcl_1_1octree_1_1_octree_base.html#a29a4753c659cdd7b27e7e83ad705c89c">更多...</a><br /></td></tr>
<tr class="separator:a29a4753c659cdd7b27e7e83ad705c89c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7fcd3895195eb4102f46d4d54826f554 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a7fcd3895195eb4102f46d4d54826f554">deserializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_input_arg)</td></tr>
<tr class="memdesc:a7fcd3895195eb4102f46d4d54826f554 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deserialize a binary octree description vector and create a corresponding octree structure. Leaf nodes are initialized with getDataTByKey(..).  <a href="classpcl_1_1octree_1_1_octree_base.html#a7fcd3895195eb4102f46d4d54826f554">更多...</a><br /></td></tr>
<tr class="separator:a7fcd3895195eb4102f46d4d54826f554 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38698f38bee2f8748d20713b61f827db inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a38698f38bee2f8748d20713b61f827db">deserializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_input_arg, std::vector&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> * &gt; &amp;leaf_container_vector_arg)</td></tr>
<tr class="memdesc:a38698f38bee2f8748d20713b61f827db inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deserialize a binary octree description and create a corresponding octree structure. Leaf nodes are initialized with LeafContainerT elements from the dataVector.  <a href="classpcl_1_1octree_1_1_octree_base.html#a38698f38bee2f8748d20713b61f827db">更多...</a><br /></td></tr>
<tr class="separator:a38698f38bee2f8748d20713b61f827db inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a8a1dcd695db20c10dd2ca049b3e6851e"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">addPointIdx</a> (const int point_idx_arg)</td></tr>
<tr class="memdesc:a8a1dcd695db20c10dd2ca049b3e6851e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point at index from input pointcloud dataset to octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">更多...</a><br /></td></tr>
<tr class="separator:a8a1dcd695db20c10dd2ca049b3e6851e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0504486d59659d8fe44257c2e46e159c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">expandLeafNode</a> (LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, unsigned int depth_mask)</td></tr>
<tr class="memdesc:a0504486d59659d8fe44257c2e46e159c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point at index from input pointcloud dataset to octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">更多...</a><br /></td></tr>
<tr class="separator:a0504486d59659d8fe44257c2e46e159c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa78eb05816a966b24bc939a6cfc625d3"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">getPointByIndex</a> (const unsigned int index_arg) const</td></tr>
<tr class="memdesc:aa78eb05816a966b24bc939a6cfc625d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get point at index from input pointcloud dataset  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">更多...</a><br /></td></tr>
<tr class="separator:aa78eb05816a966b24bc939a6cfc625d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a239ceacc6b608865fe053f26a1d5d6b6"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a239ceacc6b608865fe053f26a1d5d6b6">findLeafAtPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg) const</td></tr>
<tr class="memdesc:a239ceacc6b608865fe053f26a1d5d6b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find octree leaf node at a given point  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a239ceacc6b608865fe053f26a1d5d6b6">更多...</a><br /></td></tr>
<tr class="separator:a239ceacc6b608865fe053f26a1d5d6b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af0cbfcff86b8b2d544d98ffa4648d790"><td class="memItemLeft" align="right" valign="top"><a id="af0cbfcff86b8b2d544d98ffa4648d790"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">getKeyBitSize</a> ()</td></tr>
<tr class="memdesc:af0cbfcff86b8b2d544d98ffa4648d790"><td class="mdescLeft">&#160;</td><td class="mdescRight">Define octree key setting and octree depth based on defined bounding box. <br /></td></tr>
<tr class="separator:af0cbfcff86b8b2d544d98ffa4648d790"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0fd10260bace75f9c753ef42f74f9027"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">adoptBoundingBoxToPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_idx_arg)</td></tr>
<tr class="memdesc:a0fd10260bace75f9c753ef42f74f9027"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grow the bounding box/octree until point fits  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">更多...</a><br /></td></tr>
<tr class="separator:a0fd10260bace75f9c753ef42f74f9027"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0f377d439e78370a536d0fffd7c6a2a2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0f377d439e78370a536d0fffd7c6a2a2">isPointWithinBoundingBox</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_idx_arg) const</td></tr>
<tr class="memdesc:a0f377d439e78370a536d0fffd7c6a2a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if given point is within the bounding box of the octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0f377d439e78370a536d0fffd7c6a2a2">更多...</a><br /></td></tr>
<tr class="separator:a0f377d439e78370a536d0fffd7c6a2a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad34b5c6655fdcf9ed4da21ac8a973e5f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:ad34b5c6655fdcf9ed4da21ac8a973e5f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate octree key for voxel at a given point  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">更多...</a><br /></td></tr>
<tr class="separator:ad34b5c6655fdcf9ed4da21ac8a973e5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab0b9d5d8a304091f8b0e80f8bd76272e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab0b9d5d8a304091f8b0e80f8bd76272e">genOctreeKeyforPoint</a> (const double point_x_arg, const double point_y_arg, const double point_z_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:ab0b9d5d8a304091f8b0e80f8bd76272e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate octree key for voxel at a given point  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab0b9d5d8a304091f8b0e80f8bd76272e">更多...</a><br /></td></tr>
<tr class="separator:ab0b9d5d8a304091f8b0e80f8bd76272e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afdabd2a68b1a3b73580e84269f155fad"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#afdabd2a68b1a3b73580e84269f155fad">genOctreeKeyForDataT</a> (const int &amp;data_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:afdabd2a68b1a3b73580e84269f155fad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Virtual method for generating octree key for a given point index.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#afdabd2a68b1a3b73580e84269f155fad">更多...</a><br /></td></tr>
<tr class="separator:afdabd2a68b1a3b73580e84269f155fad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a342788d493c7a2520009179a0e321d7b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">genLeafNodeCenterFromOctreeKey</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg) const</td></tr>
<tr class="memdesc:a342788d493c7a2520009179a0e321d7b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a point at center of leaf node voxel  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">更多...</a><br /></td></tr>
<tr class="separator:a342788d493c7a2520009179a0e321d7b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6bea8ca3b8fe7b5c28bce6ca0d636789"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6bea8ca3b8fe7b5c28bce6ca0d636789">genVoxelCenterFromOctreeKey</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int tree_depth_arg, <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg) const</td></tr>
<tr class="memdesc:a6bea8ca3b8fe7b5c28bce6ca0d636789"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a point at center of octree voxel at given tree level  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6bea8ca3b8fe7b5c28bce6ca0d636789">更多...</a><br /></td></tr>
<tr class="separator:a6bea8ca3b8fe7b5c28bce6ca0d636789"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac63353c886559f6f801acb39147978a6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">genVoxelBoundsFromOctreeKey</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int tree_depth_arg, Eigen::Vector3f &amp;min_pt, Eigen::Vector3f &amp;max_pt) const</td></tr>
<tr class="memdesc:ac63353c886559f6f801acb39147978a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate bounds of an octree voxel using octree key and tree depth arguments  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">更多...</a><br /></td></tr>
<tr class="separator:ac63353c886559f6f801acb39147978a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31091b92e65251fcb6c19b5f99215151"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">getOccupiedVoxelCentersRecursive</a> (const BranchNode *node_arg, const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, AlignedPointTVector &amp;voxel_center_list_arg) const</td></tr>
<tr class="memdesc:a31091b92e65251fcb6c19b5f99215151"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively search the tree for all leaf nodes and return a vector of voxel centers.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">更多...</a><br /></td></tr>
<tr class="separator:a31091b92e65251fcb6c19b5f99215151"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1octree_1_1_octree_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1octree_1_1_octree_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;</a></td></tr>
<tr class="memitem:a9bb6a5ef1f56528bf949e4c3e9b3dcdc inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a9bb6a5ef1f56528bf949e4c3e9b3dcdc">createLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg)</td></tr>
<tr class="memdesc:a9bb6a5ef1f56528bf949e4c3e9b3dcdc inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a leaf node  <a href="classpcl_1_1octree_1_1_octree_base.html#a9bb6a5ef1f56528bf949e4c3e9b3dcdc">更多...</a><br /></td></tr>
<tr class="separator:a9bb6a5ef1f56528bf949e4c3e9b3dcdc inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08e5792b29cd493d54ba400a23505b40 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a08e5792b29cd493d54ba400a23505b40">findLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:a08e5792b29cd493d54ba400a23505b40 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find leaf node  <a href="classpcl_1_1octree_1_1_octree_base.html#a08e5792b29cd493d54ba400a23505b40">更多...</a><br /></td></tr>
<tr class="separator:a08e5792b29cd493d54ba400a23505b40 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae54aebbcf08f825f5426fc1f6f66e0b2 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ae54aebbcf08f825f5426fc1f6f66e0b2">existLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:ae54aebbcf08f825f5426fc1f6f66e0b2 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check for existance of a leaf node in the octree  <a href="classpcl_1_1octree_1_1_octree_base.html#ae54aebbcf08f825f5426fc1f6f66e0b2">更多...</a><br /></td></tr>
<tr class="separator:ae54aebbcf08f825f5426fc1f6f66e0b2 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4fc084486bee5e49223e52b5ea1a40c8 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4fc084486bee5e49223e52b5ea1a40c8">removeLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg)</td></tr>
<tr class="memdesc:a4fc084486bee5e49223e52b5ea1a40c8 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove leaf node from octree  <a href="classpcl_1_1octree_1_1_octree_base.html#a4fc084486bee5e49223e52b5ea1a40c8">更多...</a><br /></td></tr>
<tr class="separator:a4fc084486bee5e49223e52b5ea1a40c8 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd59f91dbfa1671c2d1e37e04712b286 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="acd59f91dbfa1671c2d1e37e04712b286"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#acd59f91dbfa1671c2d1e37e04712b286">getRootNode</a> () const</td></tr>
<tr class="memdesc:acd59f91dbfa1671c2d1e37e04712b286 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieve root node <br /></td></tr>
<tr class="separator:acd59f91dbfa1671c2d1e37e04712b286 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a39c116718d47fb0086ff94117551fc1d inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a39c116718d47fb0086ff94117551fc1d">branchHasChild</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg) const</td></tr>
<tr class="memdesc:a39c116718d47fb0086ff94117551fc1d inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if branch is pointing to a particular child node  <a href="classpcl_1_1octree_1_1_octree_base.html#a39c116718d47fb0086ff94117551fc1d">更多...</a><br /></td></tr>
<tr class="separator:a39c116718d47fb0086ff94117551fc1d inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a4721b246ca10cb45f130835e6e5f5b inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a9a4721b246ca10cb45f130835e6e5f5b">getBranchChildPtr</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg) const</td></tr>
<tr class="memdesc:a9a4721b246ca10cb45f130835e6e5f5b inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieve a child node pointer for child node at child_idx.  <a href="classpcl_1_1octree_1_1_octree_base.html#a9a4721b246ca10cb45f130835e6e5f5b">更多...</a><br /></td></tr>
<tr class="separator:a9a4721b246ca10cb45f130835e6e5f5b inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a61d7ddd454369c5e23054bb1cdadc540 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a61d7ddd454369c5e23054bb1cdadc540">setBranchChildPtr</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *new_child_arg)</td></tr>
<tr class="memdesc:a61d7ddd454369c5e23054bb1cdadc540 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assign new child node to branch  <a href="classpcl_1_1octree_1_1_octree_base.html#a61d7ddd454369c5e23054bb1cdadc540">更多...</a><br /></td></tr>
<tr class="separator:a61d7ddd454369c5e23054bb1cdadc540 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe9d23b2322f32b2ee26c1d9c02dcea3 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#abe9d23b2322f32b2ee26c1d9c02dcea3">getBranchBitPattern</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg) const</td></tr>
<tr class="memdesc:abe9d23b2322f32b2ee26c1d9c02dcea3 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate bit pattern reflecting the existence of child node pointers  <a href="classpcl_1_1octree_1_1_octree_base.html#abe9d23b2322f32b2ee26c1d9c02dcea3">更多...</a><br /></td></tr>
<tr class="separator:abe9d23b2322f32b2ee26c1d9c02dcea3 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb95bc5e61e5c7c5e80030be0fda5997 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">deleteBranchChild</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:aeb95bc5e61e5c7c5e80030be0fda5997 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete child node and all its subchilds from octree  <a href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">更多...</a><br /></td></tr>
<tr class="separator:aeb95bc5e61e5c7c5e80030be0fda5997 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4766cdedf01eac19a565648b372dac93 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">deleteBranch</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg)</td></tr>
<tr class="memdesc:a4766cdedf01eac19a565648b372dac93 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete branch and all its subchilds from octree  <a href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">更多...</a><br /></td></tr>
<tr class="separator:a4766cdedf01eac19a565648b372dac93 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2cec91269a5138bf75973e866015c660 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">createBranchChild</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:a2cec91269a5138bf75973e866015c660 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create and add a new branch child to a branch class  <a href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">更多...</a><br /></td></tr>
<tr class="separator:a2cec91269a5138bf75973e866015c660 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afca846cfd2002a905d1304bf663394f0 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">createLeafChild</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:afca846cfd2002a905d1304bf663394f0 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create and add a new leaf child to a branch class  <a href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">更多...</a><br /></td></tr>
<tr class="separator:afca846cfd2002a905d1304bf663394f0 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a441fbe7d3df743a9e13be569c9620c55 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">createLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a> *&amp;return_leaf_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&amp;parent_of_leaf_arg)</td></tr>
<tr class="memdesc:a441fbe7d3df743a9e13be569c9620c55 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a leaf node at octree key. If leaf node does already exist, it is returned.  <a href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">更多...</a><br /></td></tr>
<tr class="separator:a441fbe7d3df743a9e13be569c9620c55 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab3f8693893b6ee4925cf082716a607ed inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">findLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> *&amp;result_arg) const</td></tr>
<tr class="memdesc:ab3f8693893b6ee4925cf082716a607ed inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively search for a given leaf node and return a pointer.  <a href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">更多...</a><br /></td></tr>
<tr class="separator:ab3f8693893b6ee4925cf082716a607ed inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6304cd86b4c714e949c68c328f10e8c6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">deleteLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg)</td></tr>
<tr class="memdesc:a6304cd86b4c714e949c68c328f10e8c6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively search and delete leaf node  <a href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">更多...</a><br /></td></tr>
<tr class="separator:a6304cd86b4c714e949c68c328f10e8c6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9fdbf009e279243a3a1cd99caec05db inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">serializeTreeRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, std::vector&lt; char &gt; *binary_tree_out_arg, typename std::vector&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> * &gt; *leaf_container_vector_arg) const</td></tr>
<tr class="memdesc:ab9fdbf009e279243a3a1cd99caec05db inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs.  <a href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">更多...</a><br /></td></tr>
<tr class="separator:ab9fdbf009e279243a3a1cd99caec05db inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1530f19c68fa7fed82198f1444b7b114 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">deserializeTreeRecursive</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_input_it_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_input_it_end_arg, typename std::vector&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> * &gt;::const_iterator *leaf_container_vector_it_arg, typename std::vector&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> * &gt;::const_iterator *leaf_container_vector_it_end_arg)</td></tr>
<tr class="memdesc:a1530f19c68fa7fed82198f1444b7b114 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursive method for deserializing octree structure  <a href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">更多...</a><br /></td></tr>
<tr class="separator:a1530f19c68fa7fed82198f1444b7b114 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0822f6b8272dfe619009873bba7a1211 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a0822f6b8272dfe619009873bba7a1211"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a0822f6b8272dfe619009873bba7a1211">serializeTreeCallback</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> &amp;, const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;) const</td></tr>
<tr class="memdesc:a0822f6b8272dfe619009873bba7a1211 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback executed for every leaf node during serialization <br /></td></tr>
<tr class="separator:a0822f6b8272dfe619009873bba7a1211 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afac6e5f2cf2e95a27b4a529275e7ba7e inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="afac6e5f2cf2e95a27b4a529275e7ba7e"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#afac6e5f2cf2e95a27b4a529275e7ba7e">deserializeTreeCallback</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">OctreeContainerPointIndices</a> &amp;, const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;)</td></tr>
<tr class="memdesc:afac6e5f2cf2e95a27b4a529275e7ba7e inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback executed for every leaf node during deserialization <br /></td></tr>
<tr class="separator:afac6e5f2cf2e95a27b4a529275e7ba7e inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a84f6098ca21b73b3cf13ca2596238326 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a84f6098ca21b73b3cf13ca2596238326">Log2</a> (double n_arg)</td></tr>
<tr class="memdesc:a84f6098ca21b73b3cf13ca2596238326 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper function to calculate the binary logarithm  <a href="classpcl_1_1octree_1_1_octree_base.html#a84f6098ca21b73b3cf13ca2596238326">更多...</a><br /></td></tr>
<tr class="separator:a84f6098ca21b73b3cf13ca2596238326 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4cf92b5f2a5b59e679c12aab3dd276d6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4cf92b5f2a5b59e679c12aab3dd276d6">octreeCanResize</a> ()</td></tr>
<tr class="memdesc:a4cf92b5f2a5b59e679c12aab3dd276d6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Test if octree is able to dynamically change its depth. This is required for adaptive bounding box adjustment.  <a href="classpcl_1_1octree_1_1_octree_base.html#a4cf92b5f2a5b59e679c12aab3dd276d6">更多...</a><br /></td></tr>
<tr class="separator:a4cf92b5f2a5b59e679c12aab3dd276d6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a30c6002f19ebee3e5af733499254e2e3"><td class="memItemLeft" align="right" valign="top"><a id="a30c6002f19ebee3e5af733499254e2e3"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a></td></tr>
<tr class="memdesc:a30c6002f19ebee3e5af733499254e2e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pointer to input point cloud dataset. <br /></td></tr>
<tr class="separator:a30c6002f19ebee3e5af733499254e2e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4fe0eb5fad27c0b3a615f9f6d372a82b"><td class="memItemLeft" align="right" valign="top"><a id="a4fe0eb5fad27c0b3a615f9f6d372a82b"></a>
IndicesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">indices_</a></td></tr>
<tr class="memdesc:a4fe0eb5fad27c0b3a615f9f6d372a82b"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:a4fe0eb5fad27c0b3a615f9f6d372a82b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa9abbf2b0fedf04240be251def82a5b4"><td class="memItemLeft" align="right" valign="top"><a id="aa9abbf2b0fedf04240be251def82a5b4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa9abbf2b0fedf04240be251def82a5b4">epsilon_</a></td></tr>
<tr class="memdesc:aa9abbf2b0fedf04240be251def82a5b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Epsilon precision (error bound) for nearest neighbors searches. <br /></td></tr>
<tr class="separator:aa9abbf2b0fedf04240be251def82a5b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada3e26017a2b5298846bcdd989feea98"><td class="memItemLeft" align="right" valign="top"><a id="ada3e26017a2b5298846bcdd989feea98"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a></td></tr>
<tr class="memdesc:ada3e26017a2b5298846bcdd989feea98"><td class="mdescLeft">&#160;</td><td class="mdescRight">Octree resolution. <br /></td></tr>
<tr class="separator:ada3e26017a2b5298846bcdd989feea98"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8dc33f2b512bad01de17e599f8279877"><td class="memItemLeft" align="right" valign="top"><a id="a8dc33f2b512bad01de17e599f8279877"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>min_x_</b></td></tr>
<tr class="separator:a8dc33f2b512bad01de17e599f8279877"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae15a12d2a28bb61dfee5b336ccc636f0"><td class="memItemLeft" align="right" valign="top"><a id="ae15a12d2a28bb61dfee5b336ccc636f0"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>max_x_</b></td></tr>
<tr class="separator:ae15a12d2a28bb61dfee5b336ccc636f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a01c861f8af5a5a447af53be9763784c1"><td class="memItemLeft" align="right" valign="top"><a id="a01c861f8af5a5a447af53be9763784c1"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>min_y_</b></td></tr>
<tr class="separator:a01c861f8af5a5a447af53be9763784c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a464b7adba4e590273e14858b44156000"><td class="memItemLeft" align="right" valign="top"><a id="a464b7adba4e590273e14858b44156000"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>max_y_</b></td></tr>
<tr class="separator:a464b7adba4e590273e14858b44156000"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad4968dfe99e33fd95718a92626a7ec89"><td class="memItemLeft" align="right" valign="top"><a id="ad4968dfe99e33fd95718a92626a7ec89"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>min_z_</b></td></tr>
<tr class="separator:ad4968dfe99e33fd95718a92626a7ec89"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08b309d509bac1ec31f0e0688877cee1"><td class="memItemLeft" align="right" valign="top"><a id="a08b309d509bac1ec31f0e0688877cee1"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>max_z_</b></td></tr>
<tr class="separator:a08b309d509bac1ec31f0e0688877cee1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a71a8a024259c75f6365f262308af7d57"><td class="memItemLeft" align="right" valign="top"><a id="a71a8a024259c75f6365f262308af7d57"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">bounding_box_defined_</a></td></tr>
<tr class="memdesc:a71a8a024259c75f6365f262308af7d57"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag indicating if octree has defined bounding box. <br /></td></tr>
<tr class="separator:a71a8a024259c75f6365f262308af7d57"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a773a82c7c07e654e80bdca09f2fb9c"><td class="memItemLeft" align="right" valign="top">std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">max_objs_per_leaf_</a></td></tr>
<tr class="memdesc:a2a773a82c7c07e654e80bdca09f2fb9c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Amount of DataT objects per leafNode before expanding branch  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">更多...</a><br /></td></tr>
<tr class="separator:a2a773a82c7c07e654e80bdca09f2fb9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1octree_1_1_octree_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1octree_1_1_octree_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;</a></td></tr>
<tr class="memitem:a2a74d829fa6bc41a9823e42b9bbb5e59 inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a2a74d829fa6bc41a9823e42b9bbb5e59"></a>
std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a></td></tr>
<tr class="memdesc:a2a74d829fa6bc41a9823e42b9bbb5e59 inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Amount of leaf nodes <br  />
 <br /></td></tr>
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<tr class="memitem:a554d101328545d88304af3d817fb4f19 inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a554d101328545d88304af3d817fb4f19"></a>
std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a></td></tr>
<tr class="memdesc:a554d101328545d88304af3d817fb4f19 inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Amount of branch nodes <br  />
 <br /></td></tr>
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<tr class="memitem:a2ea6c9036575ec8e55ae59938036478a inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a2ea6c9036575ec8e55ae59938036478a"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a></td></tr>
<tr class="memdesc:a2ea6c9036575ec8e55ae59938036478a inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pointer to root branch node of octree <br  />
 <br /></td></tr>
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<tr class="memitem:af37a3e55a658f428b6190dcdcec28b89 inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="af37a3e55a658f428b6190dcdcec28b89"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a></td></tr>
<tr class="memdesc:af37a3e55a658f428b6190dcdcec28b89 inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Depth mask based on octree depth <br  />
 <br /></td></tr>
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<tr class="memitem:a2727267eed42ae776bbd8ea84b91187d inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a2727267eed42ae776bbd8ea84b91187d"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a></td></tr>
<tr class="memdesc:a2727267eed42ae776bbd8ea84b91187d inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Octree depth <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">dynamic_depth_enabled_</a></td></tr>
<tr class="memdesc:a6044a82930ab95b427828ff022e7d1e3 inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable dynamic_depth <br /></td></tr>
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<tr class="memitem:ae03f7feba50b4bca74c8a6aeba9aba3c inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="ae03f7feba50b4bca74c8a6aeba9aba3c"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a></td></tr>
<tr class="memdesc:ae03f7feba50b4bca74c8a6aeba9aba3c inherit pro_attribs_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">key range <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
友元</h2></td></tr>
<tr class="memitem:afbffbe37e9f198bcca90f04596e3644b"><td class="memItemLeft" align="right" valign="top"><a id="afbffbe37e9f198bcca90f04596e3644b"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeIteratorBase&lt; OctreeT &gt;</b></td></tr>
<tr class="separator:afbffbe37e9f198bcca90f04596e3644b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a006bd41bf2a4e5477c5c12b1cbc64893"><td class="memItemLeft" align="right" valign="top"><a id="a006bd41bf2a4e5477c5c12b1cbc64893"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeDepthFirstIterator&lt; OctreeT &gt;</b></td></tr>
<tr class="separator:a006bd41bf2a4e5477c5c12b1cbc64893"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72445f2ef197d672452ba776f9afc8e0"><td class="memItemLeft" align="right" valign="top"><a id="a72445f2ef197d672452ba776f9afc8e0"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeBreadthFirstIterator&lt; OctreeT &gt;</b></td></tr>
<tr class="separator:a72445f2ef197d672452ba776f9afc8e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a679b511f7d9b329ca60975da3020d33f"><td class="memItemLeft" align="right" valign="top"><a id="a679b511f7d9b329ca60975da3020d33f"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeLeafNodeIterator&lt; OctreeT &gt;</b></td></tr>
<tr class="separator:a679b511f7d9b329ca60975da3020d33f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty, typename OctreeT = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt;<br />
class pcl::octree::OctreePointCloud&lt; PointT, LeafContainerT, BranchContainerT, OctreeT &gt;</h3>

<p><b>Octree</b> pointcloud class </p>
<dl class="section note"><dt>注解</dt><dd>Octree implementation for pointclouds. Only indices are stored by the octree leaf nodes (zero-copy). </dd>
<dd>
The octree pointcloud class needs to be initialized with its voxel resolution. Its bounding box is automatically adjusted </dd>
<dd>
according to the pointcloud dimension or it can be predefined. </dd>
<dd>
Note: The tree depth equates to the resolution and the bounding box dimensions of the octree. </dd>
<dd>
</dd>
<dd>
typename: PointT: type of point used in pointcloud </dd>
<dd>
typename: LeafContainerT: leaf node container ( </dd>
<dd>
typename: BranchContainerT: branch node container </dd>
<dd>
typename: OctreeT: octree implementation ()</dd></dl>
<dl class="section author"><dt>作者</dt><dd>Julius Kammerl (<a href="#" onclick="location.href='mai'+'lto:'+'jul'+'iu'+'s@k'+'am'+'mer'+'l.'+'de'; return false;">juliu<span style="display: none;">.nosp@m.</span>s@ka<span style="display: none;">.nosp@m.</span>mmerl<span style="display: none;">.nosp@m.</span>.de</a>) </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a4ebc0e3994827277f01fe12cb4fe8c2a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4ebc0e3994827277f01fe12cb4fe8c2a">&#9670;&nbsp;</a></span>OctreePointCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::<a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a> </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>resolution_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Octree pointcloud constructor. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">resolution_arg</td><td>octree resolution at lowest octree level </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                                                                                                                       :</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    OctreeT (), <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a> (PointCloudConstPtr ()), <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">indices_</a> (IndicesConstPtr ()),</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa9abbf2b0fedf04240be251def82a5b4">epsilon_</a> (0), <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> (resolution), min_x_ (0.0f), max_x_ (resolution), min_y_ (0.0f),</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    max_y_ (resolution), min_z_ (0.0f), max_z_ (resolution), <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">bounding_box_defined_</a> (<span class="keyword">false</span>), <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">max_objs_per_leaf_</a>(0)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  assert (resolution &gt; 0.0f);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a2a773a82c7c07e654e80bdca09f2fb9c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">pcl::octree::OctreePointCloud::max_objs_per_leaf_</a></div><div class="ttdeci">std::size_t max_objs_per_leaf_</div><div class="ttdoc">Amount of DataT objects per leafNode before expanding branch</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:566</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a30c6002f19ebee3e5af733499254e2e3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">pcl::octree::OctreePointCloud::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">Pointer to input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:539</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a4fe0eb5fad27c0b3a615f9f6d372a82b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">pcl::octree::OctreePointCloud::indices_</a></div><div class="ttdeci">IndicesConstPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:542</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a71a8a024259c75f6365f262308af7d57"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">pcl::octree::OctreePointCloud::bounding_box_defined_</a></div><div class="ttdeci">bool bounding_box_defined_</div><div class="ttdoc">Flag indicating if octree has defined bounding box.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:561</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_aa9abbf2b0fedf04240be251def82a5b4"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa9abbf2b0fedf04240be251def82a5b4">pcl::octree::OctreePointCloud::epsilon_</a></div><div class="ttdeci">double epsilon_</div><div class="ttdoc">Epsilon precision (error bound) for nearest neighbors searches.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:545</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ada3e26017a2b5298846bcdd989feea98"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">pcl::octree::OctreePointCloud::resolution_</a></div><div class="ttdeci">double resolution_</div><div class="ttdoc">Octree resolution.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:548</div></div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="ac740d5e678cca7d165771f0c9e480050"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac740d5e678cca7d165771f0c9e480050">&#9670;&nbsp;</a></span>addPointFromCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::addPointFromCloud </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>point_idx_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">IndicesPtr&#160;</td>
          <td class="paramname"><em>indices_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Add point at given index from input point cloud to octree. Index will be also added to indices vector. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_idx_arg</td><td>index of point to be added </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_arg</td><td>pointer to indices vector of the dataset (given by <em>setInputCloud</em>) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;{</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">addPointIdx</a> (point_idx_arg);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordflow">if</span> (indices_arg)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    indices_arg-&gt;push_back (point_idx_arg);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a8a1dcd695db20c10dd2ca049b3e6851e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">pcl::octree::OctreePointCloud::addPointIdx</a></div><div class="ttdeci">virtual void addPointIdx(const int point_idx_arg)</div><div class="ttdoc">Add point at index from input pointcloud dataset to octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:556</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a8a1dcd695db20c10dd2ca049b3e6851e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8a1dcd695db20c10dd2ca049b3e6851e">&#9670;&nbsp;</a></span>addPointIdx()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::addPointIdx </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>point_idx_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Add point at index from input pointcloud dataset to octree </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_idx_arg</td><td>the index representing the point in the dataset given by <em>setInputCloud</em> to be added </td></tr>
  </table>
  </dd>
</dl>

<p>被 <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a02c5fe6f8d684f4eb5878b48740bf178">pcl::octree::OctreePointCloudVoxelCentroid&lt; PointT, LeafContainerT, BranchContainerT &gt;</a>, <a class="el" href="classpcl_1_1io_1_1_octree_point_cloud_compression.html#af57e000fea506a493bcd7ead63b9e1ea">pcl::io::OctreePointCloudCompression&lt; PointT, LeafT, BranchT, OctreeT &gt;</a> , 以及 <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ae4f971ffae17d6d23dc3d6fb46caedb4">pcl::octree::OctreePointCloudAdjacency&lt; PointT, LeafContainerT, BranchContainerT &gt;</a> 重载.</p>
<div class="fragment"><div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;{</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  OctreeKey key;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160; </div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  assert (point_idx_arg &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>-&gt;points.size ()));</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160; </div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>-&gt;points[point_idx_arg];</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160; </div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="comment">// make sure bounding box is big enough</span></div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">adoptBoundingBoxToPoint</a> (point);</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160; </div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  <span class="comment">// generate key</span></div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (point, key);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160; </div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  LeafNode* leaf_node;</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  BranchNode* parent_branch_of_leaf_node;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">createLeafRecursive</a> (key, this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a> ,this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>, leaf_node, parent_branch_of_leaf_node);</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160; </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;  <span class="keywordflow">if</span> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">dynamic_depth_enabled_</a> &amp;&amp; depth_mask)</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;  {</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;    <span class="comment">// get amount of objects in leaf container</span></div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    <span class="keywordtype">size_t</span> leaf_obj_count = (*leaf_node)-&gt;getSize ();</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;    <span class="keywordflow">while</span>  (leaf_obj_count&gt;=<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">max_objs_per_leaf_</a> &amp;&amp; depth_mask)</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    {</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;      <span class="comment">// index to branch child</span></div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx = key.getChildIdxWithDepthMask (depth_mask*2);</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160; </div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">expandLeafNode</a> (leaf_node,</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;                      parent_branch_of_leaf_node,</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;                      child_idx,</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;                      depth_mask);</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160; </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      depth_mask = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">createLeafRecursive</a> (key, this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a> ,this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>, leaf_node, parent_branch_of_leaf_node);</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      leaf_obj_count = (*leaf_node)-&gt;getSize ();</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;    }</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  }</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  (*leaf_node)-&gt;addPointIndex (point_idx_arg);</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2ea6c9036575ec8e55ae59938036478a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::root_node_</a></div><div class="ttdeci">BranchNode * root_node_</div><div class="ttdoc">Pointer to root branch node of octree</div><div class="ttdef"><b>Definition:</b> octree_base.h:579</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a441fbe7d3df743a9e13be569c9620c55"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::createLeafRecursive</a></div><div class="ttdeci">unsigned int createLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafNode *&amp;return_leaf_arg, BranchNode *&amp;parent_of_leaf_arg)</div><div class="ttdoc">Create a leaf node at octree key. If leaf node does already exist, it is returned.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:284</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a6044a82930ab95b427828ff022e7d1e3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::dynamic_depth_enabled_</a></div><div class="ttdeci">bool dynamic_depth_enabled_</div><div class="ttdoc">Enable dynamic_depth</div><div class="ttdef"><b>Definition:</b> octree_base.h:588</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_af37a3e55a658f428b6190dcdcec28b89"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::depth_mask_</a></div><div class="ttdeci">unsigned int depth_mask_</div><div class="ttdoc">Depth mask based on octree depth</div><div class="ttdef"><b>Definition:</b> octree_base.h:582</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a0504486d59659d8fe44257c2e46e159c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">pcl::octree::OctreePointCloud::expandLeafNode</a></div><div class="ttdeci">void expandLeafNode(LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, unsigned int depth_mask)</div><div class="ttdoc">Add point at index from input pointcloud dataset to octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:507</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a0fd10260bace75f9c753ef42f74f9027"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">pcl::octree::OctreePointCloud::adoptBoundingBoxToPoint</a></div><div class="ttdeci">void adoptBoundingBoxToPoint(const PointT &amp;point_idx_arg)</div><div class="ttdoc">Grow the bounding box/octree until point fits</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:417</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ad34b5c6655fdcf9ed4da21ac8a973e5f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">pcl::octree::OctreePointCloud::genOctreeKeyforPoint</a></div><div class="ttdeci">void genOctreeKeyforPoint(const PointT &amp;point_arg, OctreeKey &amp;key_arg) const</div><div class="ttdoc">Generate octree key for voxel at a given point</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:680</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a53d42efe80b3083dc5b703ea9dd7c9af"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a53d42efe80b3083dc5b703ea9dd7c9af">&#9670;&nbsp;</a></span>addPointToCloud() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::addPointToCloud </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PointCloudPtr&#160;</td>
          <td class="paramname"><em>cloud_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Add point simultaneously to octree and input point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_arg</td><td>point to be added </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_arg</td><td>pointer to input point cloud dataset (given by <em>setInputCloud</em>) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;{</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  assert (cloud_arg==<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  cloud_arg-&gt;push_back (point_arg);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">addPointIdx</a> (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud_arg-&gt;points.size ()) - 1);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="aa204be6055c6e686bbe2bb11ece439db"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa204be6055c6e686bbe2bb11ece439db">&#9670;&nbsp;</a></span>addPointToCloud() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::addPointToCloud </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PointCloudPtr&#160;</td>
          <td class="paramname"><em>cloud_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">IndicesPtr&#160;</td>
          <td class="paramname"><em>indices_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Add point simultaneously to octree and input point cloud. A corresponding index will be added to the indices vector. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_arg</td><td>point to be added </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_arg</td><td>pointer to input point cloud dataset (given by <em>setInputCloud</em>) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_arg</td><td>pointer to indices vector of the dataset (given by <em>setInputCloud</em>) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;{</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  assert (cloud_arg==<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  assert (indices_arg==<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">indices_</a>);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  cloud_arg-&gt;push_back (point_arg);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac740d5e678cca7d165771f0c9e480050">addPointFromCloud</a> (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud_arg-&gt;points.size ()) - 1, indices_arg);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac740d5e678cca7d165771f0c9e480050"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac740d5e678cca7d165771f0c9e480050">pcl::octree::OctreePointCloud::addPointFromCloud</a></div><div class="ttdeci">void addPointFromCloud(const int point_idx_arg, IndicesPtr indices_arg)</div><div class="ttdoc">Add point at given index from input point cloud to octree. Index will be also added to indices vector...</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:97</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a0fd10260bace75f9c753ef42f74f9027"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0fd10260bace75f9c753ef42f74f9027">&#9670;&nbsp;</a></span>adoptBoundingBoxToPoint()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::adoptBoundingBoxToPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_idx_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Grow the bounding box/octree until point fits </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_idx_arg</td><td>point that should be within bounding box; </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;{</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> minValue = std::numeric_limits&lt;float&gt;::epsilon ();</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  <span class="comment">// increase octree size until point fits into bounding box</span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  <span class="keywordflow">while</span> (<span class="keyword">true</span>)</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  {</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    <span class="keywordtype">bool</span> bLowerBoundViolationX = (point_idx_arg.x &lt; min_x_);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    <span class="keywordtype">bool</span> bLowerBoundViolationY = (point_idx_arg.y &lt; min_y_);</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    <span class="keywordtype">bool</span> bLowerBoundViolationZ = (point_idx_arg.z &lt; min_z_);</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <span class="keywordtype">bool</span> bUpperBoundViolationX = (point_idx_arg.x &gt;= max_x_);</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keywordtype">bool</span> bUpperBoundViolationY = (point_idx_arg.y &gt;= max_y_);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    <span class="keywordtype">bool</span> bUpperBoundViolationZ = (point_idx_arg.z &gt;= max_z_);</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    <span class="comment">// do we violate any bounds?</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <span class="keywordflow">if</span> (bLowerBoundViolationX || bLowerBoundViolationY || bLowerBoundViolationZ || bUpperBoundViolationX</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        || bUpperBoundViolationY || bUpperBoundViolationZ || (!<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">bounding_box_defined_</a>) )</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    {</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">bounding_box_defined_</a>)</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      {</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;        <span class="keywordtype">double</span> octreeSideLen;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        <span class="comment">// octree not empty - we add another tree level and thus increase its size by a factor of 2*2*2</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        child_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (((!bUpperBoundViolationX) &lt;&lt; 2) | ((!bUpperBoundViolationY) &lt;&lt; 1)</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;            | ((!bUpperBoundViolationZ)));</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        BranchNode* newRootBranch;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;        newRootBranch = <span class="keyword">new</span> BranchNode();</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a>++;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a61d7ddd454369c5e23054bb1cdadc540">setBranchChildPtr</a> (*newRootBranch, child_idx, this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a> = newRootBranch;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        octreeSideLen = <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>) * <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        <span class="keywordflow">if</span> (!bUpperBoundViolationX)</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;          min_x_ -= octreeSideLen;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        <span class="keywordflow">if</span> (!bUpperBoundViolationY)</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;          min_y_ -= octreeSideLen;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <span class="keywordflow">if</span> (!bUpperBoundViolationZ)</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;          min_z_ -= octreeSideLen;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        <span class="comment">// configure tree depth of octree</span></div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>++;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af7de0fe2ec6f460d6e448b846318526b">setTreeDepth</a> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;        <span class="comment">// recalculate bounding box width</span></div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        octreeSideLen = <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>) * <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> - minValue;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        <span class="comment">// increase octree bounding box</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        max_x_ = min_x_ + octreeSideLen;</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        max_y_ = min_y_ + octreeSideLen;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        max_z_ = min_z_ + octreeSideLen;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      }</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      <span class="comment">// bounding box is not defined - set it to point position</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      {</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;        <span class="comment">// octree is empty - we set the center of the bounding box to our first pixel</span></div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        this-&gt;min_x_ = point_idx_arg.x - this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> / 2;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        this-&gt;min_y_ = point_idx_arg.y - this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> / 2;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        this-&gt;min_z_ = point_idx_arg.z - this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> / 2;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        this-&gt;max_x_ = point_idx_arg.x + this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> / 2;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        this-&gt;max_y_ = point_idx_arg.y + this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> / 2;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        this-&gt;max_z_ = point_idx_arg.z + this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> / 2;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">getKeyBitSize</a> ();</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160; </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">bounding_box_defined_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;      }</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    }</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;      <span class="comment">// no bound violations anymore - leave while loop</span></div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  }</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2727267eed42ae776bbd8ea84b91187d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::octree_depth_</a></div><div class="ttdeci">unsigned int octree_depth_</div><div class="ttdoc">Octree depth</div><div class="ttdef"><b>Definition:</b> octree_base.h:585</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a554d101328545d88304af3d817fb4f19"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::branch_count_</a></div><div class="ttdeci">std::size_t branch_count_</div><div class="ttdoc">Amount of branch nodes</div><div class="ttdef"><b>Definition:</b> octree_base.h:576</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a61d7ddd454369c5e23054bb1cdadc540"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a61d7ddd454369c5e23054bb1cdadc540">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::setBranchChildPtr</a></div><div class="ttdeci">void setBranchChildPtr(BranchNode &amp;branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)</div><div class="ttdoc">Assign new child node to branch</div><div class="ttdef"><b>Definition:</b> octree_base.h:348</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_af7de0fe2ec6f460d6e448b846318526b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#af7de0fe2ec6f460d6e448b846318526b">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::setTreeDepth</a></div><div class="ttdeci">void setTreeDepth(unsigned int max_depth_arg)</div><div class="ttdoc">Set the maximum depth of the octree.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:91</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_af0cbfcff86b8b2d544d98ffa4648d790"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">pcl::octree::OctreePointCloud::getKeyBitSize</a></div><div class="ttdeci">void getKeyBitSize()</div><div class="ttdoc">Define octree key setting and octree depth based on defined bounding box.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:609</div></div>
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<a id="ab45d8debd181db309b2283ae22a27c58"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab45d8debd181db309b2283ae22a27c58">&#9670;&nbsp;</a></span>defineBoundingBox() <span class="overload">[1/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::defineBoundingBox </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>cubeLen_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Define bounding box cube for octree </p>
<dl class="section note"><dt>注解</dt><dd>Lower bounding box corner is set to (0, 0, 0) </dd>
<dd>
Bounding box cannot be changed once the octree contains elements. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cubeLen_arg</td><td>side length of bounding box cube. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;{</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="comment">// bounding box cannot be changed once the octree contains elements</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  assert (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a> == 0);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  assert (cubeLen_arg &gt;= 0.0f);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  min_x_ = 0.0f;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  max_x_ = cubeLen_arg;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  min_y_ = 0.0f;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  max_y_ = cubeLen_arg;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  min_z_ = 0.0f;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  max_z_ = cubeLen_arg;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  min_x_ = std::min (min_x_, max_x_);</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  min_y_ = std::min (min_y_, max_y_);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  min_z_ = std::min (min_z_, max_z_);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  max_x_ = std::max (min_x_, max_x_);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  max_y_ = std::max (min_y_, max_y_);</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  max_z_ = std::max (min_z_, max_z_);</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="comment">// generate bit masks for octree</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">getKeyBitSize</a> ();</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">bounding_box_defined_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2a74d829fa6bc41a9823e42b9bbb5e59"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::leaf_count_</a></div><div class="ttdeci">std::size_t leaf_count_</div><div class="ttdoc">Amount of leaf nodes</div><div class="ttdef"><b>Definition:</b> octree_base.h:573</div></div>
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</div>
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<a id="ad4b5da82dcdb17bfc47a7e727002a35d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad4b5da82dcdb17bfc47a7e727002a35d">&#9670;&nbsp;</a></span>defineBoundingBox() <span class="overload">[2/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::defineBoundingBox </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Define bounding box for octree </p>
<dl class="section note"><dt>注解</dt><dd>Lower bounding box point is set to (0, 0, 0) </dd>
<dd>
Bounding box cannot be changed once the octree contains elements. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">max_x_arg</td><td>X coordinate of upper bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_y_arg</td><td>Y coordinate of upper bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_z_arg</td><td>Z coordinate of upper bounding box corner </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;{</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <span class="comment">// bounding box cannot be changed once the octree contains elements</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  assert (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a> == 0);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  assert (max_x_arg &gt;= 0.0f);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  assert (max_y_arg &gt;= 0.0f);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  assert (max_z_arg &gt;= 0.0f);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  min_x_ = 0.0f;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  max_x_ = max_x_arg;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  min_y_ = 0.0f;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  max_y_ = max_y_arg;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  min_z_ = 0.0f;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  max_z_ = max_z_arg;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  min_x_ = std::min (min_x_, max_x_);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  min_y_ = std::min (min_y_, max_y_);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  min_z_ = std::min (min_z_, max_z_);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  max_x_ = std::max (min_x_, max_x_);</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  max_y_ = std::max (min_y_, max_y_);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  max_z_ = std::max (min_z_, max_z_);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  <span class="comment">// generate bit masks for octree</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">getKeyBitSize</a> ();</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">bounding_box_defined_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;}</div>
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</div>
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<a id="a17efabbe9a60f396212030999b9019b4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a17efabbe9a60f396212030999b9019b4">&#9670;&nbsp;</a></span>defineBoundingBox() <span class="overload">[3/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::defineBoundingBox </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>min_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>min_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>min_z_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>max_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Define bounding box for octree </p>
<dl class="section note"><dt>注解</dt><dd>Bounding box cannot be changed once the octree contains elements. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">min_x_arg</td><td>X coordinate of lower bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">min_y_arg</td><td>Y coordinate of lower bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">min_z_arg</td><td>Z coordinate of lower bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_x_arg</td><td>X coordinate of upper bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_y_arg</td><td>Y coordinate of upper bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_z_arg</td><td>Z coordinate of upper bounding box corner </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;{</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <span class="comment">// bounding box cannot be changed once the octree contains elements</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  assert (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a> == 0);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  assert (max_x_arg &gt;= min_x_arg);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  assert (max_y_arg &gt;= min_y_arg);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  assert (max_z_arg &gt;= min_z_arg);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  min_x_ = min_x_arg;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  max_x_ = max_x_arg;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  min_y_ = min_y_arg;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  max_y_ = max_y_arg;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  min_z_ = min_z_arg;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  max_z_ = max_z_arg;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  min_x_ = std::min (min_x_, max_x_);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  min_y_ = std::min (min_y_, max_y_);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  min_z_ = std::min (min_z_, max_z_);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  max_x_ = std::max (min_x_, max_x_);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  max_y_ = std::max (min_y_, max_y_);</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  max_z_ = std::max (min_z_, max_z_);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="comment">// generate bit masks for octree</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">getKeyBitSize</a> ();</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a71a8a024259c75f6365f262308af7d57">bounding_box_defined_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;}</div>
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<a id="a03616f25c07af456a3f96e87371f152e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a03616f25c07af456a3f96e87371f152e">&#9670;&nbsp;</a></span>deleteVoxelAtPoint() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::deleteVoxelAtPoint </td>
          <td>(</td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>point_idx_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Delete leaf node / voxel at given point from input cloud </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_idx_arg</td><td>index of point addressing the voxel to be deleted. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;{</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="comment">// retrieve point from input cloud</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>-&gt;points[point_idx_arg];</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="comment">// delete leaf at point</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">deleteVoxelAtPoint</a> (point);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a2edc37d578faf79346d3fa74b18de194"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">pcl::octree::OctreePointCloud::deleteVoxelAtPoint</a></div><div class="ttdeci">void deleteVoxelAtPoint(const PointT &amp;point_arg)</div><div class="ttdoc">Delete leaf node / voxel at given point</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:167</div></div>
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</div>
<a id="a2edc37d578faf79346d3fa74b18de194"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2edc37d578faf79346d3fa74b18de194">&#9670;&nbsp;</a></span>deleteVoxelAtPoint() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::deleteVoxelAtPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Delete leaf node / voxel at given point </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_arg</td><td>point addressing the voxel to be deleted. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;{</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  OctreeKey key;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (point_arg, key);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af316c0dedeb707141de115778016c969">removeLeaf</a> (key);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_af316c0dedeb707141de115778016c969"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#af316c0dedeb707141de115778016c969">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::removeLeaf</a></div><div class="ttdeci">void removeLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:150</div></div>
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<a id="a094e94679a5251f9da9b58169e51958e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a094e94679a5251f9da9b58169e51958e">&#9670;&nbsp;</a></span>enableDynamicDepth()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
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        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::enableDynamicDepth </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>maxObjsPerLeaf</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Enable dynamic octree structure </p>
<dl class="section note"><dt>注解</dt><dd>Leaf nodes are kept as close to the root as possible and are only expanded if the number of DataT objects within a leaf node exceeds a fixed limit. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">maxObjsPerLeaf</td><td>maximum number of DataT objects per leaf </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        {</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;          assert(this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>==0);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">max_objs_per_leaf_</a> = maxObjsPerLeaf;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;          this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">dynamic_depth_enabled_</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">bool</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2a773a82c7c07e654e80bdca09f2fb9c">max_objs_per_leaf_</a>&gt;0);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0504486d59659d8fe44257c2e46e159c">&#9670;&nbsp;</a></span>expandLeafNode()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::expandLeafNode </td>
          <td>(</td>
          <td class="paramtype">LeafNode *&#160;</td>
          <td class="paramname"><em>leaf_node</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">BranchNode *&#160;</td>
          <td class="paramname"><em>parent_branch</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>depth_mask</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Add point at index from input pointcloud dataset to octree </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">leaf_node</td><td>to be expanded </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">parent_branch</td><td>parent of leaf node to be expanded </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">child_idx</td><td>child index of leaf node (in parent branch) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depth_mask</td><td>of leaf node to be expanded </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;{</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  <span class="keywordflow">if</span> (depth_mask)</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  {</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    <span class="comment">// get amount of objects in leaf container</span></div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    <span class="keywordtype">size_t</span> leaf_obj_count = (*leaf_node)-&gt;getSize ();</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  <span class="comment">// copy leaf data</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    std::vector&lt;int&gt; leafIndices;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    leafIndices.reserve(leaf_obj_count);</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;    (*leaf_node)-&gt;getPointIndices(leafIndices);</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160; </div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    <span class="comment">// delete current leaf node</span></div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">deleteBranchChild</a>(*parent_branch, child_idx);</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a> --;</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160; </div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    <span class="comment">// create new branch node</span></div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    BranchNode* childBranch = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">createBranchChild</a> (*parent_branch, child_idx);</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a> ++;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    <span class="keyword">typename</span> std::vector&lt;int&gt;::iterator it = leafIndices.begin();</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;    <span class="keyword">typename</span> std::vector&lt;int&gt;::const_iterator it_end = leafIndices.end();</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160; </div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    <span class="comment">// add data to new branch</span></div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    OctreeKey new_index_key;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;    <span class="keywordflow">for</span> (it = leafIndices.begin(); it!=it_end; ++it)</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    {</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160; </div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_from_index = <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>-&gt;points[*it];</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;      <span class="comment">// generate key</span></div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (point_from_index, new_index_key);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160; </div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      LeafNode* newLeaf;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      BranchNode* newBranchParent;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">createLeafRecursive</a> (new_index_key, depth_mask, childBranch, newLeaf, newBranchParent);</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      (*newLeaf)-&gt;addPointIndex(*it);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    }</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  }</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160; </div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2cec91269a5138bf75973e866015c660"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::createBranchChild</a></div><div class="ttdeci">BranchNode * createBranchChild(BranchNode &amp;branch_arg, unsigned char child_idx_arg)</div><div class="ttdoc">Create and add a new branch child to a branch class</div><div class="ttdef"><b>Definition:</b> octree_base.h:430</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_aeb95bc5e61e5c7c5e80030be0fda5997"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::deleteBranchChild</a></div><div class="ttdeci">void deleteBranchChild(BranchNode &amp;branch_arg, unsigned char child_idx_arg)</div><div class="ttdoc">Delete child node and all its subchilds from octree</div><div class="ttdef"><b>Definition:</b> octree_base.h:380</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a239ceacc6b608865fe053f26a1d5d6b6">&#9670;&nbsp;</a></span>findLeafAtPoint()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
<table class="mlabels">
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          <td class="memname">LeafContainerT* <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::findLeafAtPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
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<p>Find octree leaf node at a given point </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_arg</td><td>query point </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to leaf node. If leaf node does not exist, pointer is 0. </dd></dl>
<div class="fragment"><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        {</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;          OctreeKey key;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;          <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;          this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (point_arg, key);</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;          <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a> (key));</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a8cb31ab9a56944b96eef0ace8dedacbe"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::findLeaf</a></div><div class="ttdeci">OctreeContainerPointIndices * findLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:108</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a342788d493c7a2520009179a0e321d7b">&#9670;&nbsp;</a></span>genLeafNodeCenterFromOctreeKey()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
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      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::genLeafNodeCenterFromOctreeKey </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
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<p>Generate a point at center of leaf node voxel </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">key_arg</td><td>octree key addressing a leaf node. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">point_arg</td><td>write leaf node voxel center to this point reference </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;{</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;  <span class="comment">// define point to leaf node voxel center</span></div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;  point.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.x) + 0.5f) * this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> + this-&gt;min_x_);</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;  point.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.y) + 0.5f) * this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> + this-&gt;min_y_);</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;  point.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.z) + 0.5f) * this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> + this-&gt;min_z_);</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#afdabd2a68b1a3b73580e84269f155fad">&#9670;&nbsp;</a></span>genOctreeKeyForDataT()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
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      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::genOctreeKeyForDataT </td>
          <td>(</td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>data_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
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<p>Virtual method for generating octree key for a given point index. </p>
<dl class="section note"><dt>注解</dt><dd>This method enables to assign indices to leaf nodes during octree deserialization. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">data_arg</td><td>index value representing a point in the dataset given by <em>setInputCloud</em> </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">key_arg</td><td>write octree key to this reference </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" - octree keys are assignable </dd></dl>
<div class="fragment"><div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;{</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> temp_point = <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">getPointByIndex</a> (data_arg);</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160; </div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;  <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (temp_point, key_arg);</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160; </div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_aa78eb05816a966b24bc939a6cfc625d3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">pcl::octree::OctreePointCloud::getPointByIndex</a></div><div class="ttdeci">const PointT &amp; getPointByIndex(const unsigned int index_arg) const</div><div class="ttdoc">Get point at index from input pointcloud dataset</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:600</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab0b9d5d8a304091f8b0e80f8bd76272e">&#9670;&nbsp;</a></span>genOctreeKeyforPoint() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::genOctreeKeyforPoint </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>point_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>point_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>point_z_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>Generate octree key for voxel at a given point </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_x_arg</td><td>X coordinate of point addressing a voxel </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">point_y_arg</td><td>Y coordinate of point addressing a voxel </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">point_z_arg</td><td>Z coordinate of point addressing a voxel </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">key_arg</td><td>write octree key to this reference </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;{</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> temp_point;</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160; </div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;  temp_point.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (point_x_arg);</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;  temp_point.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (point_y_arg);</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;  temp_point.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (point_z_arg);</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160; </div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;  <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (temp_point, key_arg);</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad34b5c6655fdcf9ed4da21ac8a973e5f">&#9670;&nbsp;</a></span>genOctreeKeyforPoint() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::genOctreeKeyforPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Generate octree key for voxel at a given point </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_arg</td><td>the point addressing a voxel </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">key_arg</td><td>write octree key to this reference </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;  {</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;    <span class="comment">// calculate integer key for point coordinates</span></div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;    key_arg.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.x - this-&gt;min_x_) / this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>);</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    key_arg.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.y - this-&gt;min_y_) / this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>);</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;    key_arg.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.z - this-&gt;min_z_) / this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>);</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;    </div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;    assert (key_arg.x &lt;= this-&gt;max_key_.x);</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;    assert (key_arg.y &lt;= this-&gt;max_key_.y);</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;    assert (key_arg.z &lt;= this-&gt;max_key_.z);</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;  }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac63353c886559f6f801acb39147978a6">&#9670;&nbsp;</a></span>genVoxelBoundsFromOctreeKey()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::genVoxelBoundsFromOctreeKey </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>tree_depth_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>min_pt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>max_pt</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Generate bounds of an octree voxel using octree key and tree depth arguments </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">key_arg</td><td>octree key addressing an octree node. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tree_depth_arg</td><td>octree depth of query voxel </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">min_pt</td><td>lower bound of voxel </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">max_pt</td><td>upper bound of voxel </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;{</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;  <span class="comment">// calculate voxel size of current tree depth</span></div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;  <span class="keywordtype">double</span> voxel_side_len = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a> - tree_depth_arg));</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160; </div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;  <span class="comment">// calculate voxel bounds</span></div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;  min_pt (0) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.x) * voxel_side_len + this-&gt;min_x_);</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  min_pt (1) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.y) * voxel_side_len + this-&gt;min_y_);</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  min_pt (2) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.z) * voxel_side_len + this-&gt;min_z_);</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160; </div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  max_pt (0) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.x + 1) * voxel_side_len + this-&gt;min_x_);</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;  max_pt (1) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.y + 1) * voxel_side_len + this-&gt;min_y_);</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;  max_pt (2) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.z + 1) * voxel_side_len + this-&gt;min_z_);</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6bea8ca3b8fe7b5c28bce6ca0d636789">&#9670;&nbsp;</a></span>genVoxelCenterFromOctreeKey()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::genVoxelCenterFromOctreeKey </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>tree_depth_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>Generate a point at center of octree voxel at given tree level </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">key_arg</td><td>octree key addressing an octree node. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tree_depth_arg</td><td>octree depth of query voxel </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">point_arg</td><td>write leaf node center point to this reference </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;{</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;  <span class="comment">// generate point for voxel center defined by treedepth (bitLen) and key</span></div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  point_arg.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast &lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.x) + 0.5f) * (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a> - tree_depth_arg))) + this-&gt;min_x_);</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;  point_arg.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast &lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.y) + 0.5f) * (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a> - tree_depth_arg))) + this-&gt;min_y_);</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;  point_arg.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast &lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key_arg.z) + 0.5f) * (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a> - tree_depth_arg))) + this-&gt;min_z_);</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac2fe606c6ea7b413949b96e4ba4b22d7">&#9670;&nbsp;</a></span>getApproxIntersectedVoxelCentersBySegment()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getApproxIntersectedVoxelCentersBySegment </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>origin</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>end</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">AlignedPointTVector &amp;&#160;</td>
          <td class="paramname"><em>voxel_center_list</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>precision</em> = <code>0.2</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get a PointT vector of centers of voxels intersected by a line segment. This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">origin</td><td>origin of the line segment </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">end</td><td>end of the line segment </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">voxel_center_list</td><td>results are written to this vector of PointT elements </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">precision</td><td>determines the size of the steps: step_size = octree_resolution x precision </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of intersected voxels </dd></dl>
<div class="fragment"><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;{</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  Eigen::Vector3f direction = end - origin;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="keywordtype">float</span> norm = direction.norm ();</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  direction.normalize ();</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> step_size = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>) * precision;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="comment">// Ensure we get at least one step for the first voxel.</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nsteps = std::max (1, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (norm / step_size));</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  OctreeKey prev_key;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordtype">bool</span> bkeyDefined = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="comment">// Walk along the line segment with small steps.</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nsteps; ++i)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    Eigen::Vector3f p = origin + (direction * step_size * <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (i));</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> octree_p;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    octree_p.x = p.x ();</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    octree_p.y = p.y ();</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    octree_p.z = p.z ();</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    OctreeKey key;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (octree_p, key);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="comment">// Not a new key, still the same voxel.</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="keywordflow">if</span> ((key == prev_key) &amp;&amp; (bkeyDefined) )</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    prev_key = key;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    bkeyDefined = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> center;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">genLeafNodeCenterFromOctreeKey</a> (key, center);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    voxel_center_list.push_back (center);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  }</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  OctreeKey end_key;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> end_p;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  end_p.x = end.x ();</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  end_p.y = end.y ();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  end_p.z = end.z ();</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (end_p, end_key);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordflow">if</span> (!(end_key == prev_key))</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> center;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">genLeafNodeCenterFromOctreeKey</a> (end_key, center);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    voxel_center_list.push_back (center);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (voxel_center_list.size ()));</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a342788d493c7a2520009179a0e321d7b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">pcl::octree::OctreePointCloud::genLeafNodeCenterFromOctreeKey</a></div><div class="ttdeci">void genLeafNodeCenterFromOctreeKey(const OctreeKey &amp;key_arg, PointT &amp;point_arg) const</div><div class="ttdoc">Generate a point at center of leaf node voxel</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:723</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#adc10f5df5244d371c4136f09b37cd685">&#9670;&nbsp;</a></span>getBoundingBox()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getBoundingBox </td>
          <td>(</td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>min_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>min_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>min_z_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>max_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>max_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>max_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get bounding box for octree </p>
<dl class="section note"><dt>注解</dt><dd>Bounding box cannot be changed once the octree contains elements. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">min_x_arg</td><td>X coordinate of lower bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">min_y_arg</td><td>Y coordinate of lower bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">min_z_arg</td><td>Z coordinate of lower bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_x_arg</td><td>X coordinate of upper bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_y_arg</td><td>Y coordinate of upper bounding box corner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_z_arg</td><td>Z coordinate of upper bounding box corner </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;{</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  min_x_arg = min_x_;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  min_y_arg = min_y_;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  min_z_arg = min_z_;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  max_x_arg = max_x_;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  max_y_arg = max_y_;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  max_z_arg = max_z_;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad2d8677cb9862db3dbb3469dea11448a">&#9670;&nbsp;</a></span>getIndices()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">IndicesConstPtr const <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getIndices </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get a pointer to the vector of indices used. </p>
<dl class="section return"><dt>返回</dt><dd>pointer to vector of indices used. </dd></dl>
<div class="fragment"><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">indices_</a>);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3755f9b861d4087c1b1bc1ab1bca1115">&#9670;&nbsp;</a></span>getInputCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">PointCloudConstPtr <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getInputCloud </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get a pointer to the input point cloud dataset. </p>
<dl class="section return"><dt>返回</dt><dd>pointer to pointcloud input class. </dd></dl>
<div class="fragment"><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#abb3e4301c89ea5011a1a1167800a57b3">&#9670;&nbsp;</a></span>getOccupiedVoxelCenters()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getOccupiedVoxelCenters </td>
          <td>(</td>
          <td class="paramtype">AlignedPointTVector &amp;&#160;</td>
          <td class="paramname"><em>voxel_center_list_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get a PointT vector of centers of all occupied voxels. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">voxel_center_list_arg</td><td>results are written to this vector of PointT elements </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of occupied voxels </dd></dl>
<div class="fragment"><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;{</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  OctreeKey key;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  key.x = key.y = key.z = 0;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  voxel_center_list_arg.clear ();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">getOccupiedVoxelCentersRecursive</a> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>, key, voxel_center_list_arg);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a31091b92e65251fcb6c19b5f99215151"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">pcl::octree::OctreePointCloud::getOccupiedVoxelCentersRecursive</a></div><div class="ttdeci">int getOccupiedVoxelCentersRecursive(const BranchNode *node_arg, const OctreeKey &amp;key_arg, AlignedPointTVector &amp;voxel_center_list_arg) const</div><div class="ttdoc">Recursively search the tree for all leaf nodes and return a vector of voxel centers.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:790</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a31091b92e65251fcb6c19b5f99215151">&#9670;&nbsp;</a></span>getOccupiedVoxelCentersRecursive()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getOccupiedVoxelCentersRecursive </td>
          <td>(</td>
          <td class="paramtype">const BranchNode *&#160;</td>
          <td class="paramname"><em>node_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">AlignedPointTVector &amp;&#160;</td>
          <td class="paramname"><em>voxel_center_list_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Recursively search the tree for all leaf nodes and return a vector of voxel centers. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">node_arg</td><td>current octree node to be explored </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">key_arg</td><td>octree key addressing a leaf node. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">voxel_center_list_arg</td><td>results are written to this vector of PointT elements </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>number of voxels found </dd></dl>
<div class="fragment"><div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;{</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;  <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160; </div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;  <span class="keywordtype">int</span> voxel_count = 0;</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160; </div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;  <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;  <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;  {</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;    <span class="keywordflow">if</span> (!this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a39c116718d47fb0086ff94117551fc1d">branchHasChild</a> (*node_arg, child_idx))</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160; </div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;    <span class="keyword">const</span> OctreeNode * child_node;</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;    child_node = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a9a4721b246ca10cb45f130835e6e5f5b">getBranchChildPtr</a> (*node_arg, child_idx);</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160; </div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;    <span class="comment">// generate new key for current branch voxel</span></div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;    OctreeKey new_key;</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;    new_key.x = (key_arg.x &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 2)));</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;    new_key.y = (key_arg.y &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 1)));</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;    new_key.z = (key_arg.z &lt;&lt; 1) | (!!(child_idx &amp; (1 &lt;&lt; 0)));</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160; </div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;    <span class="keywordflow">switch</span> (child_node-&gt;getNodeType ())</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;    {</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;      <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;      {</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;        <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;        voxel_count += <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">getOccupiedVoxelCentersRecursive</a> (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span>BranchNode*<span class="keyword">&gt;</span> (child_node), new_key, voxel_center_list_arg);</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;      }</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;      <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;      {</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> new_point;</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160; </div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">genLeafNodeCenterFromOctreeKey</a> (new_key, new_point);</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;        voxel_center_list_arg.push_back (new_point);</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160; </div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;        voxel_count++;</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;      }</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;      <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;    }</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;  }</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;  <span class="keywordflow">return</span> (voxel_count);</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a39c116718d47fb0086ff94117551fc1d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a39c116718d47fb0086ff94117551fc1d">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::branchHasChild</a></div><div class="ttdeci">bool branchHasChild(const BranchNode &amp;branch_arg, unsigned char child_idx_arg) const</div><div class="ttdoc">Check if branch is pointing to a particular child node</div><div class="ttdef"><b>Definition:</b> octree_base.h:324</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a9a4721b246ca10cb45f130835e6e5f5b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a9a4721b246ca10cb45f130835e6e5f5b">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::getBranchChildPtr</a></div><div class="ttdeci">OctreeNode * getBranchChildPtr(const BranchNode &amp;branch_arg, unsigned char child_idx_arg) const</div><div class="ttdoc">Retrieve a child node pointer for child node at child_idx.</div><div class="ttdef"><b>Definition:</b> octree_base.h:337</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa78eb05816a966b24bc939a6cfc625d3">&#9670;&nbsp;</a></span>getPointByIndex()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getPointByIndex </td>
          <td>(</td>
          <td class="paramtype">const unsigned int&#160;</td>
          <td class="paramname"><em>index_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get point at index from input pointcloud dataset </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">index_arg</td><td>index representing the point in the dataset given by <em>setInputCloud</em> </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>PointT from input pointcloud dataset </dd></dl>
<div class="fragment"><div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;{</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  <span class="comment">// retrieve point from input cloud</span></div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  assert (index_arg &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>-&gt;points.size ()));</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>-&gt;points[index_arg]);</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;}</div>
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<a id="aaeb6c759054a883ef7e709591d0be3e3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aaeb6c759054a883ef7e709591d0be3e3">&#9670;&nbsp;</a></span>getResolution()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getResolution </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Get octree voxel resolution </p>
<dl class="section return"><dt>返回</dt><dd>voxel resolution at lowest tree level </dd></dl>
<div class="fragment"><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae99e636dcd717b62e78a4a12ba9f183f">&#9670;&nbsp;</a></span>getTreeDepth()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
<table class="mlabels">
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          <td class="memname">unsigned int <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getTreeDepth </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Get the maximum depth of the octree. </p>
<dl class="section return"><dt>返回</dt><dd>depth_arg: maximum depth of octree </dd></dl>
<div class="fragment"><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          <span class="keywordflow">return</span> this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad15791e2de5823745260f812b4c65e06">&#9670;&nbsp;</a></span>getVoxelBounds()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
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      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getVoxelBounds </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_iterator_base.html">OctreeIteratorBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>iterator</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>min_pt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>max_pt</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Generate bounds of the current voxel of an octree iterator </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">iterator</td><td>octree iterator </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">min_pt</td><td>lower bound of voxel </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">max_pt</td><td>upper bound of voxel </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        {</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;          this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">genVoxelBoundsFromOctreeKey</a> (iterator.getCurrentOctreeKey (),</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;              iterator.getCurrentOctreeDepth (), min_pt, max_pt);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac63353c886559f6f801acb39147978a6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">pcl::octree::OctreePointCloud::genVoxelBoundsFromOctreeKey</a></div><div class="ttdeci">void genVoxelBoundsFromOctreeKey(const OctreeKey &amp;key_arg, unsigned int tree_depth_arg, Eigen::Vector3f &amp;min_pt, Eigen::Vector3f &amp;max_pt) const</div><div class="ttdoc">Generate bounds of an octree voxel using octree key and tree depth arguments</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:746</div></div>
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<a id="a040db2cc8b3dcf73cdb4bea4fd37d53a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a040db2cc8b3dcf73cdb4bea4fd37d53a">&#9670;&nbsp;</a></span>getVoxelSquaredDiameter() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getVoxelSquaredDiameter </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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</div><div class="memdoc">

<p>Calculates the squared diameter of a voxel at leaf depth </p>
<dl class="section return"><dt>返回</dt><dd>squared diameter </dd></dl>
<div class="fragment"><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;          <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">getVoxelSquaredDiameter</a> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a040db2cc8b3dcf73cdb4bea4fd37d53a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">pcl::octree::OctreePointCloud::getVoxelSquaredDiameter</a></div><div class="ttdeci">double getVoxelSquaredDiameter() const</div><div class="ttdoc">Calculates the squared diameter of a voxel at leaf depth</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:359</div></div>
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<a id="ab2c5e918883e8a4a4d4c9d017bff900c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab2c5e918883e8a4a4d4c9d017bff900c">&#9670;&nbsp;</a></span>getVoxelSquaredDiameter() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">double <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getVoxelSquaredDiameter </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>tree_depth_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Calculates the squared diameter of a voxel at given tree depth </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">tree_depth_arg</td><td>depth/level in octree </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>squared diameter </dd></dl>
<div class="fragment"><div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;{</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;  <span class="comment">// return the squared side length of the voxel cube as a function of the octree depth</span></div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">getVoxelSquaredSideLen</a> (tree_depth_arg) * 3);</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a8e56f5f63f8e230d71a4716f8c420ebf"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">pcl::octree::OctreePointCloud::getVoxelSquaredSideLen</a></div><div class="ttdeci">double getVoxelSquaredSideLen() const</div><div class="ttdoc">Calculates the squared voxel cube side length at leaf level</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:374</div></div>
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<a id="a8e56f5f63f8e230d71a4716f8c420ebf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8e56f5f63f8e230d71a4716f8c420ebf">&#9670;&nbsp;</a></span>getVoxelSquaredSideLen() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getVoxelSquaredSideLen </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Calculates the squared voxel cube side length at leaf level </p>
<dl class="section return"><dt>返回</dt><dd>squared voxel cube side length </dd></dl>
<div class="fragment"><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        {</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;          <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">getVoxelSquaredSideLen</a> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>);</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        }</div>
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<a id="ab16d0a5d8b0a383619e1d50d748b5e0f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab16d0a5d8b0a383619e1d50d748b5e0f">&#9670;&nbsp;</a></span>getVoxelSquaredSideLen() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">double <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::getVoxelSquaredSideLen </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>tree_depth_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Calculates the squared voxel cube side length at given tree depth </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">tree_depth_arg</td><td>depth/level in octree </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>squared voxel cube side length </dd></dl>
<div class="fragment"><div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;{</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;  <span class="keywordtype">double</span> side_len;</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160; </div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;  <span class="comment">// side length of the voxel cube increases exponentially with the octree depth</span></div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;  side_len = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(1 &lt;&lt; (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a> - tree_depth_arg));</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160; </div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;  <span class="comment">// squared voxel side length</span></div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;  side_len *= side_len;</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160; </div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;  <span class="keywordflow">return</span> (side_len);</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0f377d439e78370a536d0fffd7c6a2a2">&#9670;&nbsp;</a></span>isPointWithinBoundingBox()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::isPointWithinBoundingBox </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_idx_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
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</div><div class="memdoc">

<p>Checks if given point is within the bounding box of the octree </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_idx_arg</td><td>point to be checked for bounding box violations </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" - no bound violation </dd></dl>
<div class="fragment"><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        {</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;          <span class="keywordflow">return</span> (! ( (point_idx_arg.x &lt; min_x_) || (point_idx_arg.y &lt; min_y_)</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;                   || (point_idx_arg.z &lt; min_z_) || (point_idx_arg.x &gt;= max_x_)</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;                   || (point_idx_arg.y &gt;= max_y_) || (point_idx_arg.z &gt;= max_z_)));</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;        }</div>
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<a id="a93dbefe4a23e8083f6e3bba2eab22e0c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a93dbefe4a23e8083f6e3bba2eab22e0c">&#9670;&nbsp;</a></span>isVoxelOccupiedAtPoint() <span class="overload">[1/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::isVoxelOccupiedAtPoint </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>point_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>point_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>point_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Check if voxel at given point coordinates exist. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_x_arg</td><td>X coordinate of point to be checked </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">point_y_arg</td><td>Y coordinate of point to be checked </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">point_z_arg</td><td>Z coordinate of point to be checked </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if voxel exist; "false" otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;{</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  OctreeKey key;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (point_x_arg, point_y_arg, point_z_arg, key);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">existLeaf</a> (key));</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_adde845dfa80aec70762f8297e2b2e97c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">pcl::octree::OctreeBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt;::existLeaf</a></div><div class="ttdeci">bool existLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const</div><div class="ttdoc">idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:136</div></div>
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<a id="a75d0265301eeb2ba907cd1f2e002eca7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a75d0265301eeb2ba907cd1f2e002eca7">&#9670;&nbsp;</a></span>isVoxelOccupiedAtPoint() <span class="overload">[2/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
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          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::isVoxelOccupiedAtPoint </td>
          <td>(</td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>point_idx_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
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<p>Check if voxel at given point from input cloud exist. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_idx_arg</td><td>point to be checked </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if voxel exist; "false" otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">// retrieve point from input cloud</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>-&gt;points[point_idx_arg];</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="comment">// search for voxel at point in octree</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">isVoxelOccupiedAtPoint</a> (point));</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a9a2aff164921146fd82c192d73e2f155"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">pcl::octree::OctreePointCloud::isVoxelOccupiedAtPoint</a></div><div class="ttdeci">bool isVoxelOccupiedAtPoint(const PointT &amp;point_arg) const</div><div class="ttdoc">Check if voxel at given point exist.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:130</div></div>
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<a id="a9a2aff164921146fd82c192d73e2f155"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9a2aff164921146fd82c192d73e2f155">&#9670;&nbsp;</a></span>isVoxelOccupiedAtPoint() <span class="overload">[3/3]</span></h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT , typename OctreeT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::isVoxelOccupiedAtPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
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<p>Check if voxel at given point exist. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_arg</td><td>point to be checked </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if voxel exist; "false" otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;{</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  OctreeKey key;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="comment">// generate key for point</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (point_arg, key);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="comment">// search for key in octree</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0f377d439e78370a536d0fffd7c6a2a2">isPointWithinBoundingBox</a> (point_arg) &amp;&amp; this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">existLeaf</a> (key));</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a0f377d439e78370a536d0fffd7c6a2a2"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0f377d439e78370a536d0fffd7c6a2a2">pcl::octree::OctreePointCloud::isPointWithinBoundingBox</a></div><div class="ttdeci">bool isPointWithinBoundingBox(const PointT &amp;point_idx_arg) const</div><div class="ttdoc">Checks if given point is within the bounding box of the octree</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:462</div></div>
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<a id="a6ed1b43b1e139f916c4908ee4407a9a0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6ed1b43b1e139f916c4908ee4407a9a0">&#9670;&nbsp;</a></span>setEpsilon()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
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        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::setEpsilon </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>eps</em></td><td>)</td>
          <td></td>
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<p>Set the search epsilon precision (error bound) for nearest neighbors searches. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">eps</td><td>precision (error bound) for nearest neighbors searches </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa9abbf2b0fedf04240be251def82a5b4">epsilon_</a> = eps;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        }</div>
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<a id="a87cad20428de876fcf789e674a39f503"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a87cad20428de876fcf789e674a39f503">&#9670;&nbsp;</a></span>setInputCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
<table class="mlabels">
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const IndicesConstPtr &amp;&#160;</td>
          <td class="paramname"><em>indices_arg</em> = <code>IndicesConstPtr&#160;()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Provide a pointer to the input data set. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_arg</td><td>the const boost shared pointer to a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_arg</td><td>the point indices subset that is to be used from <em>cloud</em> - if 0 the whole point cloud is used </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a30c6002f19ebee3e5af733499254e2e3">input_</a> = cloud_arg;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">indices_</a> = indices_arg;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a95a51d4834c204e02fd12b48d0c37a6f">&#9670;&nbsp;</a></span>setResolution()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
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      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::setResolution </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>resolution_arg</em></td><td>)</td>
          <td></td>
        </tr>
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<p>Set/change the octree voxel resolution </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">resolution_arg</td><td>side length of voxels at lowest tree level </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <span class="comment">// octree needs to be empty to change its resolution</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          assert( this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a> == 0);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a> = resolution_arg;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">getKeyBitSize</a> ();</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        }</div>
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<h2 class="groupheader">类成员变量说明</h2>
<a id="a2a773a82c7c07e654e80bdca09f2fb9c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2a773a82c7c07e654e80bdca09f2fb9c">&#9670;&nbsp;</a></span>max_objs_per_leaf_</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreeContainerPointIndices, typename BranchContainerT  = OctreeContainerEmpty, typename OctreeT  = OctreeBase&lt;LeafContainerT, BranchContainerT&gt;&gt; </div>
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          <td class="memname">std::size_t <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::max_objs_per_leaf_</td>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>Amount of DataT objects per leafNode before expanding branch </p>
<dl class="section note"><dt>注解</dt><dd>zero indicates a fixed/maximum depth octree structure </dd></dl>

</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>octree/include/pcl/octree/<a class="el" href="octree__pointcloud_8h_source.html">octree_pointcloud.h</a></li>
<li>octree/include/pcl/octree/impl/<a class="el" href="octree__pointcloud_8hpp_source.html">octree_pointcloud.hpp</a></li>
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